The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 03, 2020
Filed:
Jul. 13, 2016
Kuka Deutschland Gmbh, Augsburg, DE;
Matthias Rohmer, Augsburg, DE;
Tobias Reichl, Munich, DE;
Gunter Schreiber, Friedberg, DE;
Holger Monnich, Friedberg, DE;
Martin Mueller-Sommer, Aindling, DE;
Uwe Bonin, Augsburg, DE;
KUKA Deutschland GmbH, Augsburg, DE;
Abstract
In one aspect, a method for controlling a compliant-controlled robot includes performing a boundary monitoring of the robot and controlling movement of the robot with a return force that is predetermined by control technology. If the robot is already in a blocked area upon activation of the boundary monitoring, then a first return force operates to return the robot from a current position in the blocked area toward a boundary of the blocked area. If the robot arrived at the current position in the blocked area after activation of the boundary monitoring, then a second return force operates to return the robot from the current position toward the boundary. The first return force is at least temporarily less than the second return force.