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. 05, 2024
Filed:
Mar. 19, 2020
Franka Emika Gmbh, Munich, DE;
Andreas Spenninger, Karlsfeld, DE;
Franka Emika GmbH, Munich, DE;
Abstract
A method for specifying a velocity of a robot manipulator, including: providing a database that has a data record for each of selected surface points on the manipulator, wherein each data record indicates, for each of possible stiffnesses and/or masses of an object in an environment of the manipulator, a safe normal velocity of each surface point, wherein the normal velocity is a component of the velocity vector of each surface point perpendicular to a surface of each surface point, detecting an actual stiffness and/or an actual mass of the object in the environment, assigning the actual stiffness and/or the actual mass to a normal velocity of a given data record for each surface point, and specifying a velocity for each surface point on a current or planned path of the manipulator, such that the velocity at each surface point is less than or equal to an assigned normal velocity.