US 12,377,539 B2
Collaborative robot
Christoph Byner, Mannheim (DE); Björn Matthias, Bad Schönborn (DE); Harald Staab, Neckargemünd (DE); and Richard Roberts, Gilching (DE)
Assigned to ABB Schweiz AG, Baden (CH)
Filed by ABB Schweiz AG, Baden (CH)
Filed on Dec. 19, 2022, as Appl. No. 18/083,687.
Application 18/083,687 is a continuation of application No. PCT/EP2020/067973, filed on Jun. 25, 2020.
Prior Publication US 2023/0138217 A1, May 4, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1638 (2013.01) [B25J 9/1602 (2013.01); B25J 9/1664 (2013.01); B25J 13/085 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A robot, comprising:
at least one articulate arm having members, the members comprising a base, an end effector, and a plurality of links, wherein each of the plurality of links is movably connected to two other members by respective joints;
at least one sensor configured to detect an external force acting on any one of the members; and
a controller configured to control movements of the respective joints so as to move the end effector along a pre-programmed path;
wherein, in response to the sensor detecting the external force, the controller is configured to:
adopt a first release strategy for escaping from the external force, evaluate whether the first strategy is successful;
adopt a second release strategy when the first strategy is unsuccessful; and
prohibit the robot arm from assuming a singular pose that corresponds to the plurality of links being arranged in a straight line, wherein in the first or second release strategy the controller is further configured to select one of the respective joints and to control the one of the respective joints to rotate based on an external torque affecting the respective joints.