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:
Jun. 09, 2020
Filed:
Apr. 22, 2016
Applicant:
Kastanienbaum Gmbh, München, DE;
Inventors:
Sami Haddadin, Hannover, DE;
Nico Mansfeld, München, DE;
Assignee:
Kastanienbaum GmbH, München, DE;
Attorneys:
Primary Examiner:
Int. Cl.
CPC ...
B25J 9/16 (2006.01); G05B 19/4061 (2006.01);
U.S. Cl.
CPC ...
G05B 19/4061 (2013.01); B25J 9/1666 (2013.01); B25J 9/1671 (2013.01); B25J 9/1676 (2013.01); G05B 2219/39091 (2013.01); G05B 2219/39097 (2013.01); G05B 2219/40492 (2013.01); G05B 2219/40512 (2013.01); G05B 2219/40515 (2013.01); G05B 2219/40516 (2013.01);
Abstract
The invention relates to a method and device for controlling and regulating motors, MOT, of a robot, with m=1, 2, . . . M, wherein the robot has robot components that are interconnected via a number, N, of articulated connections GEL, the joint angles of the articulated connections GELcan be adjusted by means of associated motors MOT; Z(t) is a state of the robot components in an interval, t; and a first system of coupled motion equations BGG is predetermined and describes rigid-body dynamics or flexible-body dynamics of the connected robot components.