US 12,280,503 B2
Method for operating a robot manipulator with increased mass of a load
Andreas Spenninger, Karlsfeld (DE); and Mohamadreza Sabaghian, Munich (DE)
Assigned to Franka Emika GmbH, Munich (DE)
Appl. No. 17/630,677
Filed by Franka Emika GmbH, Munich (DE)
PCT Filed Aug. 11, 2020, PCT No. PCT/EP2020/072453
§ 371(c)(1), (2) Date Jan. 27, 2022,
PCT Pub. No. WO2021/028413, PCT Pub. Date Feb. 18, 2021.
Claims priority of application No. 10 2019 121 628.1 (DE), filed on Aug. 12, 2019.
Prior Publication US 2022/0266447 A1, Aug. 25, 2022
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1633 (2013.01) 21 Claims
OG exemplary drawing
 
1. A method of operating a robot manipulator, the method comprising:
ascertaining a wrench or joint torque vector based on a weight force of a mass and/or based on a force induced by inertia of a mass of a load on an end effector of the robot manipulator;
ascertaining a maximum permissible workspace and a maximum permissible kinematic variable of the end effector or the load, in each case based on the wrench or joint torque vector, wherein the maximum permissible workspace specifies a range for permissible positions of the end effector or the load, such that the wrench or joint torque vector does not exceed a predetermined metric within the maximum permissible workspace;
wherein the predetermined metric is a limiting value for a torque exerted on a base of the robot manipulator by the weight force of the load, wherein the predetermined metric is determined by a radius measured from a vertical axis extending through the base of the robot manipulator toward the load multiplied by the mass of the load, thus enabling the robot manipulator that is limited for general operation to a highest-permissible mass for the load on the end effector to be operable with higher masses on the end effector the smaller the radius; and
activating the robot manipulator via a control unit to execute a predetermined task in consideration of the maximum permissible kinematic variable, such that the end effector or the load on the end effector remains within the maximum permissible workspace if, at beginning of execution of the predetermined task, the end effector or the load on the end effector is located within the maximum permissible workspace.