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. 04, 2024
Filed:
Jul. 03, 2020
Franka Emika Gmbh, Munich, DE;
Andreas Spenninger, Karlsfeld, DE;
Franka Emika GmbH, Munich, DE;
Abstract
A method includes: controlling actuators of a robot manipulator to compensate for influence of gravity; during a manual guidance of the robot manipulator detecting an orientation of an end effector; and controlling at least part of the actuators in such a way that during manual guidance of the end effector, the end effector: within a first range of a first rotation, opposes no or a speed-dependent resistance and outside the first range opposes a rotation angle-dependent resistance to the manual guidance, wherein the first rotation is a rotation angle of the end effector about its longitudinal axis; and within a second range of the second rotation, opposes no or a speed-dependent resistance to the manual guidance, and outside the second range, opposes a deflection-dependent resistance to the manual guidance, wherein the second rotation is a rotational deflection of the end effector from its original longitudinal axis or a vertical axis.