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:
Jan. 12, 2010
Filed:
Nov. 15, 2006
Applicants:
Alin Albu-schäffer, Munich, DE;
Christian Ott, Munich, DE;
Ulrich Hagn, Pahl, DE;
Tobias Ortmaier, Germering, DE;
Inventors:
Alin Albu-Schäffer, Munich, DE;
Christian Ott, Munich, DE;
Ulrich Hagn, Pahl, DE;
Tobias Ortmaier, Germering, DE;
Assignees:
Deutsches Zentrum Fuer Luft-Und Raumfahrt E.V., Cologne, DE;
Brainlab AG, Feldkirchen, DE;
Primary Examiner:
Int. Cl.
CPC ...
G05B 19/4061 (2006.01); G05B 19/33 (2006.01);
U.S. Cl.
CPC ...
Abstract
In a method for controlling a robot arm, which is particularly suitable for use in medical applications, a robot arm () with a redundant number of joints is used. A torque acting in at least one joint () is sensed. By means of a control device, the torque acting in this joint () is controlled to become substantially 0.