Invention Grant
US07646161B2 Method for controlling a robot arm, and robot for implementing the method
有权
用于控制机器人手臂的方法和用于实现该方法的机器人
- Patent Title: Method for controlling a robot arm, and robot for implementing the method
- Patent Title (中): 用于控制机器人手臂的方法和用于实现该方法的机器人
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Application No.: US11600959Application Date: 2006-11-15
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Publication No.: US07646161B2Publication Date: 2010-01-12
- Inventor: Alin Albu-Schäffer , Christian Ott , Ulrich Hagn , Tobias Ortmaier
- Applicant: Alin Albu-Schäffer , Christian Ott , Ulrich Hagn , Tobias Ortmaier
- Applicant Address: DE Cologne DE Feldkirchen
- Assignee: Deutsches Zentrum Fuer Luft-Und Raumfahrt E.V.,Brainlab AG
- Current Assignee: Deutsches Zentrum Fuer Luft-Und Raumfahrt E.V.,Brainlab AG
- Current Assignee Address: DE Cologne DE Feldkirchen
- Agency: Clements Bernard, PLLC
- Agent Gregory N. Clements
- Priority: DE102005054575 20051116
- Main IPC: G05B19/4061
- IPC: G05B19/4061 ; G05B19/33
Abstract:
In a method for controlling a robot arm, which is particularly suitable for use in medical applications, a robot arm (10) with a redundant number of joints is used. A torque acting in at least one joint (12a, 12b) is sensed. By means of a control device, the torque acting in this joint (12a, 12b) is controlled to become substantially 0.
Public/Granted literature
- US20070120512A1 Method for controlling a robot arm, and robot for implementing the method Public/Granted day:2007-05-31
Information query
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