| 54 |
Title |
TI |
[EN] Method for manually adjusting the pose of a manipulator arm of an industrial robot and industrial robots |
| 71/73 |
Applicant/owner |
PA |
KUKA LAB GMBH, DE
;
KUKA ROBOTER GMBH, DE
|
| 72 |
Inventor |
IN |
KOGAN YEVGEN, DE
|
| 22/96 |
Application date |
AD |
Sep 19, 2014 |
| 21 |
Application number |
AN |
201414491460 |
|
Country of application |
AC |
US |
|
Publication date |
PUB |
May 17, 2016 |
33
31
32 |
Priority data |
PRC
PRN
PRD |
DE
102013218823
20130919
|
| 51 |
IPC main class |
ICM |
G05B 15/00
(2006.01)
|
| 51 |
IPC secondary class |
ICS |
B25J 13/08
(2006.01)
B25J 9/16
(2006.01)
G05B 19/00
(2006.01)
G05B 19/423
(2006.01)
|
|
IPC additional class |
ICA |
|
|
IPC index class |
ICI |
|
|
Cooperative patent classification |
CPC |
B25J 13/08
B25J 13/085
B25J 9/02
B25J 9/04
B25J 9/1656
G05B 19/423
G05B 2219/36432
G05B 2219/39346
Y02P 80/10
Y10S 901/09
Y10S 901/46
|
|
MCD main class |
MCM |
G05B 15/00
(2006.01)
|
|
MCD secondary class |
MCS |
B25J 13/08
(2006.01)
B25J 9/16
(2006.01)
G05B 19/00
(2006.01)
G05B 19/423
(2006.01)
|
|
MCD additional class |
MCA |
|
| 57 |
Abstract |
AB |
[EN] A method for manually guided adjustment of the pose of a manipulator arm of an industrial robot includes detecting a guidance force applied to the manipulator arm by an operator of the industrial robot, determining one of at least two degrees-of-freedom of a reference coordinate system as a selected freedom direction, wherein the selected freedom direction corresponds to the degree-of-freedom in which the guidance force has its greatest force vector component, and controlling the drives of the industrial robot using force control in such a manner that a pre-specified reference point associated with the manipulator arm is moved only in the selected freedom direction as a result of movement of the manipulator arm by an operator during a manually-guided adjustment of the pose of the manipulator arm. |
| 56 |
Cited documents identified in the search |
CT |
US000006424885B1
US000008010180B2
US000008012107B2
US000008177732B2
US000008287522B2
US000008545420B2
US000008864655B2
US020150081098A1
|
| 56 |
Cited documents indicated by the applicant |
CT |
CN000102858490A
CN000103170658A
CN000103209810A
DE102008027008A1
DE102008062622A1
EP000000850730A1
EP000002131257A1
JP000004759660B2
US000006385508B1
US020110190932A1
WO002009106983A1
WO002010088959A1
|
| 56 |
Cited non-patent literature identified in the search |
CTNP |
|
| 56 |
Cited non-patent literature indicated by the applicant |
CTNP |
Chinese Patent Office; Office Action in Chinese Patent Application No. 201410484179.2 dated Sep. 28, 2015; 18 pages. 1;
European Patent Office; Search Report in European Patent Application No. 14183559.5 dated Mar. 16, 2015; 7 pages. 1;
German Patent Office; Search Report in German Patent Application No. 10 2013 218 823.4 dated Aug. 5, 2014; 10 pages. 1;
Korean Patent Office; Office Action in Korean Patent Application No. 2014-0124307 dated Jan. 27, 2016; 5 pages. 1
|
|
Citing documents |
|
Determine documents
|
|
Sequence listings |
|
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|
Search file IPC |
ICP |
B25J 13/08
B25J 9/16
G05B 19/00
G05B 19/423
|
