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Controlling A Compliant-Controlled Robot

  • US 20170014997A1
  • Filed: 07/13/2016
  • Published: 01/19/2017
  • Est. Priority Date: 07/13/2015
  • Status: Active Grant
First Claim
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1. A method for controlling a compliant-controlled robot, the method comprising:

  • performing a boundary monitoring of the robot;

    controlling movement of the robot with a first return force if the robot, upon activation of the boundary monitoring, is already in a blocked area, wherein the first return force operates to return the robot from a current position in the blocked area toward a boundary of the blocked area and is predetermined by control technology; and

    controlling movement of the robot with a second return force if the robot arrived at the current position in the blocked area after activation of the boundary monitoring, wherein the second return force operates to return the robot from the current position toward the boundary and is predetermined by control technology;

    wherein the first return force is at least temporarily less than the second return force.

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