US 12,233,535 B2
System for performing an input on a robotic manipulator
Andreas Spenninger, Karlsfeld (DE); Saskia Golz, Munich (DE); and Sven Parusel, Munich (DE)
Assigned to Franka Emika GmbH, Munich (DE)
Appl. No. 17/620,236
Filed by FRANKA EMIKA GMBH, Munich (DE)
PCT Filed Jun. 26, 2020, PCT No. PCT/EP2020/067981
§ 371(c)(1), (2) Date Dec. 17, 2021,
PCT Pub. No. WO2020/260555, PCT Pub. Date Dec. 30, 2020.
Claims priority of application No. 10 2019 004 478.9 (DE), filed on Jun. 26, 2019.
Prior Publication US 2022/0362943 A1, Nov. 17, 2022
Int. Cl. B25J 13/08 (2006.01); B25J 9/16 (2006.01); B25J 13/06 (2006.01)
CPC B25J 13/085 (2013.01) [B25J 9/1671 (2013.01); B25J 13/06 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A system to perform an input on a robotic manipulator, the system comprising:
a robotic manipulator having a plurality of links including an end effector connected to one another by articulations and having actuators;
a sensor unit configured to record an input variable, applied by a user by user's manual guiding of the robotic manipulator, on the robotic manipulator, wherein the input variable is a kinematic variable or a force and/or a moment, and wherein the sensor unit is configured to transmit the input variable; and
a computing unit connected to the robotic manipulator and to the sensor unit, the computing unit configured to:
transform the input variable received from the sensor unit via a predefined input variable mapping, wherein the predefined input variable mapping defines a mathematical mapping of the input variable onto a setting of a virtual control element; and
actuate the actuators in such a manner that, during the manual guiding of the robotic manipulator, the robotic manipulator outputs a haptic feedback and/or a tactile feedback associated with a resistance-caused boundary, such that the robotic manipulator behaves as a rigid body to an extent made possible by the actuators against an attempted movement of the robotic manipulator.