US 12,290,929 B2
Applied force control for robots
Jonathan D. Hoffman, Milkwaukee, WI (US); Arun K. Guru, Brookfield, WI (US); Robert J. Miklosovic, Chardon, OH (US); Maulik Kalolia, Twinsburg, OH (US); Aderiano M. da Silva, Oak Creek, WI (US); and Jasper Hao Yang, Shanghai (CN)
Assigned to Rockwell Automation Technologies, Inc., Mayfield Heights, OH (US)
Filed by Rockwell Automation Technologies, Inc.
Filed on Mar. 20, 2023, as Appl. No. 18/123,858.
Prior Publication US 2024/0316763 A1, Sep. 26, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 9/10 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 9/106 (2013.01); B25J 9/1664 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
detecting, via at least one processor, that a tool coupled to an end effector of a robot comprising a plurality of joints is contacting a surface, wherein the robot comprises a plurality of joint motors configured to control a plurality of motions of the plurality of joints, and wherein one or more control systems are configured to control each of the plurality of joint motors in a joint position mode;
identifying, via the at least one processor, a first joint of the plurality of joints in response to detecting that the tool is contacting the surface;
sending, via the at least one processor, a command to at least one of the one or more control systems associated with a first joint motor of the plurality of joint motors that corresponds to the first joint, wherein the command is configured to cause the at least one of the one or more control systems to operate in a torque mode; and
sending, via the at least one processor, a joint torque value to the at least one of the one or more control systems, wherein the at least one of the one or more control systems is configured to cause the first joint to apply the joint torque value via the first joint motor.