CN213081468U - Robot arm - Google Patents
Robot arm Download PDFInfo
- Publication number
- CN213081468U CN213081468U CN201890001441.5U CN201890001441U CN213081468U CN 213081468 U CN213081468 U CN 213081468U CN 201890001441 U CN201890001441 U CN 201890001441U CN 213081468 U CN213081468 U CN 213081468U
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- 210000001503 joint Anatomy 0.000 claims description 22
- 230000003287 optical effect Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 11
- 241000238421 Arthropoda Species 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000001066 destructive effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
According to the utility model discloses a robot arm has: an adjusting member (4) and an adjacent member (2) which are connected to each other in an adjusting joint (3); a bearing member (5) connected to an adjacent member by at least one intermediate joint (5A); and a measuring device having a measuring element (1B) on the adjustment member side, the measuring element being located on a measuring plane (E) in a predetermined adjustment position of the adjustment joint3) The measuring plane contains the joint axes of the adjusting joints and encloses an angle of between 80 ° and 100 ° with the joint axes of the middle joints.
Description
Technical Field
The present invention relates to a robot arm, a method for adjusting a joint of a robot arm, a controller, and a robot having the robot arm and the controller.
Background
It is known from the practice within the industry to provide a measuring slot in one of the two limbs and a measuring or adjusting box on the other of the two limbs for adjusting a robot joint which connects the two limbs of the robot arm to one another, with an electrical sensor for the adjustment being fastened to it, which electrical sensor detects whether the measuring gap lies in a measuring plane, which determines a defined position of the robot joint, so that the robot joint can be calibrated on the basis of this defined position.
Adjusting the placement of the cartridge or sensor can be problematic, especially for structural reasons.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an aim at improves the adjustment to the joint of robot arm.
The object of the utility model is achieved through a robot arm. The invention also claims a controller or a robot having the robot arm and the controller.
According to one embodiment of the invention, the robot arm has two limbs which are connected to one another by a joint which is referred to herein without loss of generality as a joint to be calibrated or an adjustment joint. Two arthropods connected to each other by this adjusting joint are respectively called an adjusting arthropod and an adjacent arthropod, wherein in one embodiment the pose, in particular the theoretical pose, of the adjusting arthropod relative to the adjacent arthropod is determined only by adjusting the position of the joint.
According to one embodiment of the invention, the robot arm has a further limb which is connected to the adjacent limb via or by at least one joint, which is referred to herein without loss of generality as an intermediate joint. This other member is called a bearing member.
According to one embodiment of the invention, the robot arm has a measuring device with a measuring element on the adjusting member side, in particular one or more pieces specific to the adjusting member, which in a predetermined adjustment position of the adjusting joint lies in a measuring plane which contains the joint axis of the adjusting joint and encloses an angle with the joint axis of the intermediate joint, which is between 80 ° and 100 °, in particular between 85 ° and 95 °, or in one embodiment 90 °, or at least substantially perpendicular or orthogonal to the joint axis of the intermediate joint.
In one embodiment, the measuring element, which is located on the adjusting member side and therefore moves together with the adjustment of the adjusting member about its joint axis, is located exclusively or exclusively in a predetermined adjustment position and, if necessary, in a position rotated by 180 ° relative to the adjustment position in the measuring plane. In one embodiment, the measuring plane (of the measuring device) is predetermined, in particular defined relative to the carrier member, and in one embodiment is fixed in position relative to the carrier member.
In one embodiment, the measuring device, in particular the measuring element and/or the measuring plane, is provided or designed to detect whether the measuring element is located in or not in the measuring plane, in particular to detect whether the measuring element passes through the measuring plane, in one embodiment to detect whether the measuring element is located (by the measuring device) in the measuring plane in a predetermined adjustment position of the adjustment joint, in particular only (and if necessary in a position rotated by 180 ° relative to the adjustment position) in the predetermined adjustment position of the adjustment joint (by the measuring device).
In one embodiment, the measuring plane has a half-plane defined by the joint axes of the adjusting joint, and the measuring device, in particular the measuring element and/or the half-plane, is/are provided or designed to detect whether the measuring element is located or not in the half-plane, in particular to detect that the measuring element passes through the half-plane, in one embodiment whether the measuring element is located in the half-plane in a predetermined adjusting position of the adjusting joint (by the measuring device) or not, in particular only in the predetermined adjusting position of the adjusting joint (by the measuring device).
In one embodiment, it can be determined whether the adjustment joint is in the predetermined adjustment position by detecting whether the measuring element lies in the measuring plane or the half-plane by means of the measuring device: if (detection) the measuring element is located in the measuring plane or the half-plane, it is detected that the adjustment joint is in the predetermined adjustment position, otherwise or if (detection) the measuring element is not located in the measuring plane or the half-plane, it is detected that the adjustment joint is not in the predetermined adjustment position.
In one embodiment, the measuring plane is predefined from design or from construction, in particular with respect to the carrier member or by the carrier member and/or constantly or statically, in particular by (arrangement or orientation of) measuring marks and/or interfaces and/or measuring sensor(s) which will be explained later, or a measuring device, in particular an interface, measuring marks and/or measuring sensor is provided accordingly, in one embodiment the interface or measuring sensor is designed to detect the measuring marks only in the set position. In one embodiment, the measuring marks or interfaces or measuring sensors are arranged in the measuring plane or semi-plane.
In this context, the joint axis of a revolute joint is in particular the rotation axis or the rotation axis thereof, and the joint axis of a revolute joint is in particular the translation axis or the displacement axis thereof.
In one embodiment, by orienting the joint axis of the intermediate joint at least substantially orthogonally with respect to the measurement plane, the position of the intermediate joint influences the detection of the adjustment position of the adjustment joint at most slightly, preferably not at all (at least substantially). In one embodiment, the measuring device can thus be advantageously placed and, at the same time, the measuring error of the measuring device, in particular caused thereby, can be kept small, although the measuring device or the adjustment by means of at least 2 joints or (joint) axes initially appears to be disadvantageous due to the reduced accuracy.
In one embodiment, the carrier member is connected to the adjacent member in an intermediate joint, so that in one embodiment, in particular a theoretical position of the carrier member relative to the adjacent member is determined solely by the position of the intermediate joint. In other words, in one embodiment, the intermediate joint and the adjusting joint are (directly) successive joints or the carrier member, the adjacent member and the adjusting member are (kinematically directly) successive members of the robot arm.
In one embodiment, the measurement error of the measuring device can thus be kept small.
In an alternative embodiment, the bearing member is connected to the adjacent member via or via two or more intermediate joints, wherein the measuring plane and the joint axes of the intermediate joints each enclose an angle of between 80 ° and 100 °, in particular between 85 ° and 95 °, in one embodiment 90 °, or the joint axes each are at least substantially perpendicular or orthogonal to the measuring plane.
In one embodiment, the measuring device can thus be advantageously placed and, at the same time, the measuring device, in particular the measuring errors caused thereby, can be kept small.
In one embodiment, the measuring element can have, in particular, a mechanical (detectable) and/or optical (detectable) measuring marking, in particular a depression or a projection, which is placed in a stationary manner on the adjustment member, and the measuring device can have, in particular, a stationary manner on the support member, in particular, on a measuring plane, in particular a half-plane, to which a measuring sensor, in particular an electrical measuring sensor, is fastened, in one embodiment, which is fastened to the interface in a non-destructive manner and/or temporarily and/or in a measuring plane, in particular a half-plane, by means of which the measuring marking, or in particular whether the measuring marking is located in the measuring plane or in the half-plane, or whether the adjustment joint has a preset adjustment position depending on this, or the interface, the measurement marking and/or the measurement sensor are designed for this purpose or are used for this purpose.
In one embodiment, by placing the measuring sensor or the interface on the support member, the measuring sensor can be held in place for the adjustment joint during the adjustment, and thus the measuring device can advantageously be placed and/or the measuring error of the measuring device can be kept small.
In an alternative embodiment, the measuring device can in turn have a measuring marking, in particular a depression or a bulge, in particular a mechanical (detectable) and/or optical (detectable) measuring mark, in particular a depression or a bulge, in particular in a measuring plane, in particular a half-plane, which is placed in particular stationary on the carrier member; the measuring element has an interface, in particular a stationary interface, which is placed on the adjustment member, in particular on the adjustment member, to which a measuring sensor, in particular an electrical measuring sensor, is fastened, in one embodiment the measuring sensor is fastened to the interface in a non-destructive, detachable and/or temporary manner, by or by means of which a measuring marking, or in particular whether the interface or the measuring sensor lies in a measuring plane or a semi-plane, or whether the adjustment joint has a predetermined adjustment position in connection therewith, or the interface, the measuring marking and/or the measuring sensor is designed or used for this purpose. In this embodiment, the measuring transducer is therefore moved relative to the measuring plane as a result of the adjustment joint.
In this way, in one embodiment, the carrier member can be made more compact.
In one embodiment, the measuring device comprises a measuring sensor that can be fastened, in particular at least temporarily, to the interface.
In addition or alternatively, the interface itself can have a measuring member, in particular for actuating the measuring sensor, in particular adjustable and/or translationally adjustable by the measuring marking, in particular the interface itself can be a measuring member, in particular for actuating the measuring sensor, in particular adjustable and/or translationally adjustable by the measuring marking.
In one embodiment, the adjustment axis, in one embodiment a translational adjustment axis, and/or the engagement direction of the measurement marking with one or more joint axes of the intermediate joint (in each case) encloses an angle of between 80 ° and 100 °, in particular between 85 ° and 95 °, and in one embodiment 90 °, of the interface or of the measurement sensor (fixed to the interface), in particular of the probe, wherein in one embodiment the adjustment axis or the engagement direction does not intersect this joint axis, but can be spaced apart therefrom or inclined relative thereto (windschaf). Additionally or alternatively, in one embodiment, the articulation direction of the measuring marking or of the adjustment axis of the measuring member is at least substantially parallel to the articulation axis of the adjustment joint.
In one embodiment, the measurement error of the measuring device can thus be kept small.
In one embodiment, the adjusting member is a distal end member, in particular a robot (arm) flange. The invention is particularly advantageous for such distal end members, since there a preferably compact size is required for improved usability, to which the invention is not limited.
The method for adjusting the adjustment joint of the robot arm can comprise the following steps:
-an adjustment joint, in one embodiment only an adjustment joint;
detecting (the presence of) an adjustment position of the adjustment joint by means of a measuring device, in particular during and/or after the adjustment of the adjustment joint, in particular with (the presence of) a measuring element in a measuring plane, in particular a half-plane, or with the measuring element passing through a measuring plane or a half-plane, in one embodiment (at least) the adjustment joint is adjusted until (the presence of) an adjustment position of the adjustment joint is detected by means of a measuring device, in particular with (the presence of) a measuring element in a measuring plane or a half-plane; and
-adjusting the adjustment joint in dependence on the detected adjustment position or its presence.
In one embodiment, the calibration or adjustment of the adjustment joint comprises a calibration, in particular a determination or correction, of a zero position or a reference position and/or an offset of the adjustment joint, in particular of an (adjustment) joint sensor which detects the position of the adjustment member and of an adjacent member relative to one another or is designed for this purpose or used for this purpose. In particular, the position of the adjustment joint detected by the joint sensor when the adjustment position is detected may be determined as a zero position or a reference position, or a corresponding offset may be determined. Additionally or alternatively, in one embodiment, the adjustment joint may also be mechanically altered or recalibrated.
In one embodiment, the method includes the step prior to adjusting the adjustment joint of:
the one or more intermediate joints are (respectively) adjusted to a measuring position for detecting an adjustment position of the adjustment joint by means of the measuring device or to a measuring position which can be detected or can be detected by means of the measuring device.
In one embodiment, the measuring device can thus be held in a favorable position, while in one development the measuring sensor and the measuring marking are oriented relative to one another and thus the measuring error of the measuring device is kept small.
In one embodiment, a controller for controlling a robot arm is provided, which is designed in particular by hardware and/or software technology, in particular programming technology, for carrying out the method described herein and/or (at least) has:
-means for adjusting the adjustment joint, in one embodiment for adjusting only the adjustment joint;
-means for detecting an adjustment position of the adjustment joint by means of the measuring means; and
-means for adjusting the adjustment joint in dependence on the detected adjustment position.
In one embodiment, the controller or apparatus thereof comprises: means for adjusting one or more intermediate joints (respectively) to a measuring position by means of which the adjustment position of the adjustment joint is detected.
The device according to the invention can be embodied in hardware and/or software, in particular with: a processing unit, in particular a digital processing unit, in particular a microprocessor unit (CPU), which is preferably connected to a memory system and/or a bus system in a data or signal manner; and/or one or more programs or program modules. To this end, the CPU may be designed to: executing instructions implemented as a program stored in a storage system; detect input signals from the data bus and/or send output signals to the data bus. The storage system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state and/or other non-volatile media. The program may be such that: which can embody or carry out the method described herein, so that the CPU can carry out the steps of the method and can thus control the robot arm in particular. In one embodiment, a computer program product may have a storage medium, in particular a non-volatile storage medium, for storing a program or a storage medium having a program stored thereon, and a computer program product may be a storage medium, in particular a non-volatile storage medium, for storing a program or a storage medium having a program stored thereon, wherein execution of the program enables a system or a controller, in particular a computer, to carry out the method or one or more steps of the method described herein.
In one embodiment, one or more steps, in particular all steps, of the method are performed fully or partially automatically, in particular by a controller or a device thereof.
In one embodiment, the robot arm has one or more further joints, in particular revolute joints, in addition to the adjustment joint and one or more intermediate joints (one or more of which may be revolute joints, and in one embodiment all may be revolute joints). In one embodiment, the robot arm has at least five joints, in particular at least six joints, in one embodiment at least seven joints, in particular revolute joints, in total or including one or more adjustment joints and an intermediate joint. Additionally or alternatively, in one embodiment the robot arm (respectively) has an, in particular electrical, preferably electrical, drive for adjusting one or more joints thereof, in particular an, in particular electrical, preferably electrical, drive for adjusting an adjustment joint, and/or (respectively) has an, in particular electrical, preferably electrical, drive for adjusting one or more intermediate joints, in one embodiment the drive is (respectively) controlled, in particular adjusted, by the controller.
In one embodiment, the stationary placement can comprise a non-destructively detachable placement or a permanent placement, in particular a material-fit fastening or a monolithic structure, and the stationary placement can in particular be a non-destructively detachable placement or a permanent placement, in particular a material-fit fastening or a monolithic structure. In one embodiment, the measuring element is located exactly in the measuring plane or half-plane in the sense of the present invention if the reference point specific to the measuring element is located in the measuring plane or half-plane or has a maximum predetermined tolerance distance with respect to the measuring plane or half-plane, which in one embodiment corresponds to a predetermined adjustment accuracy and/or is at most 1%, in particular at most 0.1%, of the maximum distance to the measuring plane or half-plane that can be achieved by adjusting the adjusting joint.
Drawings
Further advantages and features of the invention are given by the dependent claims and embodiments. This section shows schematically:
fig. 1 is a robotic arm having an adjustment joint and an intermediate joint according to one embodiment of the present invention;
FIG. 2 is a portion of a robotic arm including an intermediate joint in a measuring position and an adjustment joint in an adjustment position;
FIG. 3 is a portion of a robotic arm including an adjustment joint and an intermediate joint in another position;
fig. 4 is a method for adjusting an adjustment joint of a robot arm according to an embodiment of the present invention.
Detailed Description
Fig. 1 shows a robot arm according to an embodiment of the invention, having an adjusting member in the form of a distal end member 4 and an adjacent member in the form of a pivot housing 2, which is connected to the adjusting joint or the distal end member 4 in an adjusting rotary joint 3 and to a support member in the form of a base body 5 in an intermediate rotary joint.
On the base body 5, an interface in the form of a known adjustment box 1 is stationarily placed for fixing the measuring sensor.
Fig. 2, 3 each schematically show a part of a robot arm, which respectively comprises an intermediate joint in a measuring position and an adjusting joint in an adjusting position (fig. 2) or an intermediate joint and an adjusting joint in other positions that are moved relative thereto (fig. 3).
In place of the adjustment box 1, fig. 2 and 3 show a measuring sensor 1A which is temporarily fixed to the adjustment box and which communicates with the controller 30.
In fig. 2 and 3, the (joint) axis of the rotary joint 3 is adjusted to the one-dot chain line or the joint coordinate q3And the (joint) axis of the intermediate revolute joint 5A.
The measuring sensor 1A (see fig. 2, 3) or its interface in the form of an adjustment box 1 (see fig. 1) has a structurally predetermined (position-specific) operating or adjustment direction R of the carrier member1A. The operating or regulating direction being located in the measuring deviceA measurement plane E arranged in the same way as the drawing planes of FIGS. 2 and 33Has a measuring sensor 1A or its interface 1 and a measuring marking in the form of a measuring slot 1B on an adjustment joint or distal end member 4, which is located (only) in the adjustment position of the adjustment joint 3 shown in fig. 2 (and in a position adjusted by 180 ° relative to the adjustment position) in the measuring plane E3Or only in the adjustment position in the respective half-plane defined by the joint axis (to the right in fig. 2).
As can be seen from fig. 2 and 3: due to adjustment of the direction R1AOr measuring plane E3The (joint) axis relative to the intermediate revolute joint 5A is orthogonally oriented, so that its position is not included in the measurement of the position of the adjustment revolute joint 3. In this exemplary embodiment, the (joint) axis of the adjusting rotary joint 3 is also parallel to the adjustment direction R1A。
In a variant that is not shown, the interface 1 or the measuring sensor 1A and the measuring slot 1B on the actuating member 4 can also be placed in turn specific to the carrying member.
Fig. 4 shows a method for adjusting the adjustment joint 3 according to an embodiment of the invention.
In step S10, the controller 30 first adjusts the middle joint 5A into a measuring position as shown in fig. 2, in which the adjustment position of the adjustment joint 3 can be detected by means of the measuring device, or whether the measuring slot 1B lies in the measuring plane or half-plane E3Middle (fig. 3-)>Fig. 2). Here, the measuring sensor 1A is fixed to the adjustment box 1 before or after reaching the measuring position.
Subsequently in step S20, the controller 30 commands only the adjustment joint 3 to rotate, and continuously detects during this whether the measurement slot 1B is arranged in the measurement plane or the half plane E3In (1).
In step S30, the detected measurement gap 1B is passed through the measurement plane or half plane E3The mechanical zero position of the adjusting joint 3 is determined and the adjusting joint 3 is calibrated accordingly, for example with a joint angle sensor (not shown)Shown) return to zero, etc.
Thereby, the joint angle sensor may be reliably and accurately calibrated with a preset mechanical position, i.e. the adjustment position of the adjustment joint 3, and subsequently the actual mechanical position of the adjustment joint 3 may be reliably and accurately determined based on the position detected by the joint angle sensor.
Although exemplary embodiments have been set forth in the foregoing description, it should be noted that many variations are possible. It should also be noted that the exemplary embodiments are only examples, and should not be construed as limiting the scope, applicability, or configuration in any way. On the contrary, the foregoing description will enable others skilled in the art to practice the teachings of at least one exemplary embodiment with the modifications as are suited to the particular use contemplated, and in particular variations as may be obtained by the claims and equivalent combinations of features, without departing from the scope of the present invention.
List of reference numerals
1 adjusting box (interface)
1A measuring sensor
1B measuring notch (measuring mark)
2 pivoting shell (Adjacent member)
3 rotating joint (adjusting joint)
4 distal end member (adjustment member)
5 base (bearing arthropod)
5A middle (rotary) joint shaft
30 controller
E3Measuring plane or semi-plane
q3Joint angle
R1AAnd adjusting the direction.
Claims (8)
1. A robot arm having:
an adjusting member (4) and an adjacent member (2) which are connected to each other in an adjusting joint (3),
-a bearing member (5) connected to said adjacent member by at least one intermediate joint (5A), and
a measuring device having a measuring element on the adjustment joint side, which measuring element is located on a measuring plane (E) in a predetermined adjustment position of the adjustment joint3) Wherein the measuring plane contains the joint axis of the adjusting joint and encloses an angle of between 80 ° and 100 ° with the joint axis of the middle joint.
2. The robotic arm of claim 1, wherein the bearing member is connected to the adjacent member in an intermediate joint.
3. The robotic arm of claim 1, wherein the bearing member is connected to the adjacent member by at least two intermediate joints, wherein the measuring plane and a joint axis of the intermediate joints each enclose an angle between 80 ° and 100 °.
4. The robot arm according to any of the claims 1-3,
-the measuring element has a, in particular mechanical and/or optical, measuring marking (1B) which is placed, in particular stationary, on the adjusting member, and the measuring device has an interface (1) which is placed, in particular stationary, on the carrying member for fixing a measuring sensor (1A) for detecting the measuring marking; or
The measuring device has a, in particular mechanical and/or optical, measuring marking, which is placed, in particular, stationary, on the carrier member, and the measuring element has an interface, which is placed, in particular, stationary, on the adjustment member for fixing the measuring sensor for detecting the measuring marking.
5. A robot arm according to any of claims 1-3, characterised in that the adjusting member is a distal end member.
6. The robotic arm of claim 4, wherein the adjustment member is a distal end member.
7. A controller (30) for controlling a robotic arm according to any one of the preceding claims, the controller having:
-means for adjusting the adjustment joint;
-means for detecting an adjustment position of the adjustment joint by means of a measuring device; and
-means for adjusting the adjustment joint in dependence on the detected adjustment position.
8. A robot having a robot arm and a controller (30) for controlling a robot arm according to claim 7.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017010405.0 | 2017-11-09 | ||
| DE102017010405.0A DE102017010405A1 (en) | 2017-11-09 | 2017-11-09 | Robot arm and method for its adjustment |
| PCT/EP2018/080104 WO2019091892A1 (en) | 2017-11-09 | 2018-11-05 | Robot arm and method for adjustment thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213081468U true CN213081468U (en) | 2021-04-30 |
Family
ID=64109879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201890001441.5U Active CN213081468U (en) | 2017-11-09 | 2018-11-05 | Robot arm |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN213081468U (en) |
| DE (2) | DE102017010405A1 (en) |
| WO (1) | WO2019091892A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102020203671B4 (en) | 2020-03-23 | 2024-06-13 | Kuka Deutschland Gmbh | Method for controlling a robot arm |
| CN112077879B (en) * | 2020-08-29 | 2021-12-03 | 上海大学 | Rotating shaft full-working-domain mechanical property detection method based on humanoid soft finger |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010060484A1 (en) * | 2008-11-28 | 2010-06-03 | Abb Technology Ab | A calibration tool, a robot unit and a method for setting the orientation of a robot arm to a predetermined orientation |
-
2017
- 2017-11-09 DE DE102017010405.0A patent/DE102017010405A1/en not_active Withdrawn
-
2018
- 2018-11-05 WO PCT/EP2018/080104 patent/WO2019091892A1/en active Application Filing
- 2018-11-05 CN CN201890001441.5U patent/CN213081468U/en active Active
- 2018-11-05 DE DE212018000329.7U patent/DE212018000329U1/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019091892A1 (en) | 2019-05-16 |
| DE212018000329U1 (en) | 2020-07-20 |
| DE102017010405A1 (en) | 2019-05-09 |
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