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:
Apr. 21, 2025
Filed:
Jun. 09, 2021
Deutsches Zentrum Für Luft-und Raumfahrt E.v., Bonn, DE;
Johannes Englsberger, Wessling, DE;
Gianluca Garofalo, Wessling, DE;
George Adrian Mesesan, Wessling, DE;
Abstract
A method for controlling a kinematically redundant robot () in order to fulfill multiple tasks. At least one passivity-based first controller module () is used, at least one task target description and at least one associated task mapping are computed for the at least one first controller module (), at least one weighting is computed for the tasks, and the at least one first controller module () is integrated into an overall controller (), using the at least one weighting. Moreover, the invention relates to a computer program product that includes commands which, when the program is executed with the aid of at least one processor, prompt the processor to carry out such a method.