US 12,330,302 B2
Graphically supported adaptation of robot control programs
Jose Ramon Medina Hernandez, Munich (DE); and Andreas Spenninger, Karlsfeld (DE)
Assigned to FRANKA EMIKA GMBH, Munich (DE)
Appl. No. 17/797,154
Filed by Franka Emika GmbH, Munich (DE)
PCT Filed Feb. 10, 2021, PCT No. PCT/EP2021/053134
§ 371(c)(1), (2) Date Aug. 3, 2022,
PCT Pub. No. WO2021/160638, PCT Pub. Date Aug. 19, 2021.
Claims priority of application No. 10 2020 103 853.4 (DE), filed on Feb. 14, 2020.
Prior Publication US 2023/0049586 A1, Feb. 16, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 13/06 (2006.01)
CPC B25J 9/1605 (2013.01) [B25J 13/06 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A control unit to ascertain one or more parameters of a control program and/or of a control system for a robot manipulator, the control unit comprising:
an interactive operating unit configured to:
display a first adjustment element, a second adjustment element, and a specified region for the first adjustment element and the second adjustment element, wherein the first adjustment element and the second adjustment element are moveable within the specified region via an input of a user on the interactive operating unit; and
detect a user-specified position of the first adjustment element and the second adjustment element within the specified region and to transmit the user-specified position of the first adjustment element and the second adjustment element, wherein the first adjustment element and the second adjustment element are moveable on a common linear scale; and
a computing unit configured to;
receive the user-specified position of the first adjustment element and the second adjustment element transmitted from the interactive operating unit;
ascertain at least three weightings for a specified cost function as a function of the user-specified position of the first adjustment element relative to the second adjustment element and as a function of a relative position of a respective adjustment element relative to the specified region, wherein a sum of the weightings is constant for all positions of the first adjustment element and the second adjustment element; and
ascertain the one or more parameters of the control program and/or of the control system for the robot manipulator based on the cost function with the ascertained weightings.