Robot arm with adaptive three-dimensional boundaries in automatic drive

• Main Author: HANSEN JACOB GREGERS
• Format: Patent
• Language: Chinese; English
• Published: 07.06.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; HAND TOOLS; MANIPULATORS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; TRANSPORTING

The invention relates to a robot controller for controlling a robot arm. The robot controller is configured to maintain the robot arm in a static posture when only gravity acts on the robot arm and to allow a posture change of the robot arm 5 when an external force different from the gravity is applied to the robot arm. The free drive operation mode can be activated by a free drive activation signal established by a user to the robot controller, the robot controller is configured to allow a portion of the robot arm to move within a virtual three-dimensional geometry 10 around the portion of the robot arm during a free-drive safety period in a free-drive mode of operation. 本发明涉及一种控制机器人臂的机器人控制器，该机器人控制器被配置成在仅有重力作用于该机器人臂上时将该机器人臂保持在静态姿势并在向该机器人臂施加不同于重力的外力时允许该机器人臂5的姿势变化。自由驱动操作模式能够由用户建立到该机器人控制器的自由驱动激活信号来激活，该机器人控制器被配置成在自由驱动操作模式下在自由驱动安全时段内允许所述机器人臂的一部分在围绕该机器人臂的该部分的虚拟三维几何形状10内移动。