Device and method for performing open-loop and closed-loop control of a robot manipulator

Abstract

The invention relates to a device and method for performing open-loop and closed-loop control of a robot manipulator that has an end effector, driven by a number M of actuators ACT. The invention includes a first unit which registers and/or makes available an external force wrench {right arrow over (F)}(t)={{right arrow over (f)}(t),{right arrow over (m)}(t)} acting on the end effector, a controller which is connected to the first unit and to the actuators ACTand which includes a first controller R, which is a force controller, and a second controller Rwhich is connected thereto and which is an impedance controller, an admittance controller, a position controller or a cruise controller, wherein the controller determines actuating variables u(t) with which the actuators ACTcan be actuated in such way that when the end effector contacts a surface of an object, the end effector acts on the object with a desired force wrench {right arrow over (F)}(t)={{right arrow over (f)}(t),{right arrow over (m)}(t)}; where u(t)=u(t)+u(t), wherein the first controller Ris embodied and configured in such a way that the actuating variable u(t) of Ris determined as a product of a variable u(t)* output by Rand a function S(v(t)), or as a Q-dimensional function S*(v*(t), u(t)*), where: u(t)=S(v(t))·u(t)* or u(t)=S*(v*(t), u(t)*); v(t)=v({right arrow over (F)}(t), {right arrow over (R)}(t)); vϵ[v, v], v*(t)=v*({right arrow over (F)}(t), {right arrow over (R)}(t))=[v*({right arrow over (F)}(t), {right arrow over (R)}(t)), . . . , v*({right arrow over (F)}(t), {right arrow over (R)}(t))].