US 12,263,575 B2
Method for specifying an input value 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. 17/620,788
Filed by FRANKA EMIKA GMBH, Munich (DE)
PCT Filed Jun. 26, 2020, PCT No. PCT/EP2020/067984
§ 371(c)(1), (2) Date Dec. 20, 2021,
PCT Pub. No. WO2020/260556, PCT Pub. Date Dec. 30, 2020.
Claims priority of application No. 10 2019 117 217.9 (DE), filed on Jun. 26, 2019.
Prior Publication US 2022/0355489 A1, Nov. 10, 2022
Int. Cl. B25J 18/00 (2006.01); B25J 13/02 (2006.01); G06F 3/02 (2006.01); G06F 3/0338 (2013.01); G06F 3/0362 (2013.01)
CPC B25J 13/02 (2013.01) [G06F 3/02 (2013.01); G06F 3/0338 (2013.01); G06F 3/0362 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of specifying an input value on a robotic manipulator, wherein the robotic manipulator comprises a plurality of limbs connected to one another by articulations and movable with respect to one another by actuation, the method comprising:
selecting a particular input device to be emulated from a plurality of predefined input devices by specification on the part of a user or by a control unit of the robotic manipulator, wherein each of the plurality of input devices to be emulated is assigned at least one degree of freedom of the robotic manipulator and local limits in the at least one degree of freedom corresponding to each of the plurality if input devices, and a transfer function of a coordinate of the robotic manipulator in the at least one degree of freedom is assigned onto the input value;
actuating the robotic manipulator in such a manner that at least one part of the robotic manipulator is manually movable by a user in the at least one degree of freedom assigned to the particular input device selected to be emulated and within the local limits assigned to the particular input device selected to be emulated, wherein the particular input device selected to be emulated is a virtual physically existing device that has physical behavior imitated by the robot manipulator being manually moved by the user;
recording a respective coordinate in the at least one degree of freedom during or after completion of an input, the input performed via manual guiding on the robotic manipulator by the user, the respective coordinate recorded via at least one sensor unit connected to the robotic manipulator; and
applying the transfer function to assign the respective coordinate to the input value associated with corresponding actuation of the particular input device selected to be emulated.