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:
May. 10, 2022
Filed:
Feb. 07, 2018
Franka Emika Gmbh, Munich, DE;
Saskia Golz, Munich, DE;
Franka Emika GmbH, Munich, DE;
Abstract
A robot including a manipulator driven by actuators, and configured to determine external forces and/or external torques acting upon the manipulator, the robot configured to: regulate the actuators for a sub-space T1 of a working space AR such that, upon application of an external force and/or external torque upon the manipulator, the manipulator recedes into T1, wherein following applies: T1⊆AR and T1≠AR, and AR specifies all permitted translations and/or rotations of the manipulator; and determine, for a space TK1 that is complementary to T1, a projection {right arrow over (P)}of the external force and/or external torque into TK1, wherein following applies: T1∩TK1={0}, TK1⊆AR, and T1∪TK1=AR, classify {right arrow over (P)}into one of several predefined classes with respect to amount and/or direction and/or time curve of {right arrow over (P)}, store a command and/or rule for each predefined class, and regulate the actuators as a function of classification of {right arrow over (P)}based on respective command and/or rule.