US 12,377,540 B2
Method and system for performing a predetermined task using a robot
Ewald Lutscher, Augsburg (DE); and Mario Daniele Fiore, Augsburg (DE)
Assigned to KUKA Deutschland GmbH, (DE)
Appl. No. 17/431,593
Filed by KUKA Deutschland GmbH, Augsburg (DE)
PCT Filed Jan. 24, 2020, PCT No. PCT/EP2020/051708
§ 371(c)(1), (2) Date Aug. 17, 2021,
PCT Pub. No. WO2020/169302, PCT Pub. Date Aug. 27, 2020.
Claims priority of application No. 10 2019 202 456.4 (DE), filed on Feb. 22, 2019.
Prior Publication US 2022/0111520 A1, Apr. 14, 2022
Int. Cl. B25J 9/16 (2006.01); A61B 34/32 (2016.01); B25J 15/00 (2006.01)
CPC B25J 9/1643 (2013.01) [A61B 34/32 (2016.02); B25J 9/1607 (2013.01); B25J 9/1633 (2013.01); B25J 9/1651 (2013.01); B25J 15/0019 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method for carrying out a predetermined task using a robot, wherein the robot is redundant with regard to the task, the method comprising:
executing the task by actuating at least one joint of the robot, while performing an admittance motion in the null space of the robot in response to the command;
wherein the admittance motion is based on a force exerted externally on the robot and at least one of a predetermined virtual mass, a predetermined virtual stiffness, or a predetermined virtual damping associated with the robot;
wherein a determined target admittance motion is projected into the null space; and
the target admittance motion is determined on the basis of at least one of:
the force exerted externally on the robot, or
at least one of a predetermined virtual mass, stiffness, or damping.