US 12,280,507 B2
Generating a control program for a robot manipulator
Andreas Spenninger, Karlsfeld (DE); and Jose Ramon Medina Hernandez, Munich (DE)
Assigned to Franka Emika GmbH, Munich (DE)
Appl. No. 17/784,916
Filed by Franka Emika GmbH, Munich (DE)
PCT Filed Dec. 22, 2020, PCT No. PCT/EP2020/087557
§ 371(c)(1), (2) Date Jun. 13, 2022,
PCT Pub. No. WO2021/130193, PCT Pub. Date Jul. 1, 2021.
Claims priority of application No. 10 2019 135 810.8 (DE), filed on Dec. 27, 2019.
Prior Publication US 2023/0001580 A1, Jan. 5, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/161 (2013.01); B25J 13/085 (2013.01); B25J 13/088 (2013.01); G05B 2219/40599 (2013.01); G05B 2219/40607 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of generating a control program for a second robot manipulator based on empirical data from executing a predetermined application by a first robot manipulator, the method comprising:
executing the predetermined application by the first robot manipulator;
during execution of the predetermined application: determining time series of trajectory data by joint angle sensors of the first robot manipulator and/or time series of wrench data by a sensor unit of the first robot manipulator for detecting forces and/or torques, and storing the determined time series in a storage unit, the trajectory data comprising kinematic data relating to a reference point of the first robot manipulator or relating to the joint angles of the first robot manipulator, and the wrench data comprising forces and/or torques acting between the first robot manipulator and an object in the surroundings;
determining robot commands from the stored time series, and storing the determined robot commands in the storage unit, the robot commands being principal elements of a control program for a respective robot manipulator without reference to design conditions of the first robot manipulator; and
generating the control program for the second robot manipulator based on the stored robot commands and based on design conditions of the second robot manipulator.