US 12,246,451 B2
Robot control
Juan David Munoz Osorio, Augsburg (DE); and Abdelrahman Abdelazim, Augsburg (DE)
Assigned to KUKA Deutschland GmbH, (DE)
Appl. No. 17/802,262
Filed by KUKA Deutschland GmbH, Augsburg (DE)
PCT Filed Feb. 24, 2021, PCT No. PCT/EP2021/054514
§ 371(c)(1), (2) Date Aug. 25, 2022,
PCT Pub. No. WO2021/170623, PCT Pub. Date Sep. 2, 2021.
Claims priority of application No. 20159998 (EP), filed on Feb. 28, 2020.
Prior Publication US 2023/0085221 A1, Mar. 16, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 9/1661 (2013.01); B25J 9/1666 (2013.01); G05B 2219/40336 (2013.01); G05B 2219/40338 (2013.01); G05B 2219/40371 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for controlling a robot to perform at least one Cartesian or joint space task, the robot comprising a plurality of links connected by joints, the method comprising:
determining with a computer, at least one of joint forces or joint accelerations of the robot using quadratic programming and based on at least one cost function which depends on at least one first Cartesian or joint space task; and
controlling the robot with the computer to perform the at least one first task based on the determined joint forces or joint accelerations.