Output of quality information via force detection on the robot manipulator

摘要

The invention relates to a method for outputting information about the quality of a force and / or torque detected or detectable by torque sensors (2) of the robot manipulator (1), comprising the steps: Determination (S1) of current joint angles of the robot manipulator (1) Joint angle sensors (3) of the robot manipulator (1), - determining (S2) a Jacobian matrix belonging to the current joint angles, - determining (S3) a pseudo inverse of the transposed Jacobian matrix, - for each row of the pseudo inverse: determining (S4) a measure based on the Amounts of the components of the respective line of the pseudo inverse, - Assess (S5) at least one respective force direction and / or reference direction depending on the height of the measure of at least one respective line of the pseudo inverse, with each line of the pseudo inverse being assigned either a force direction or a reference direction, and - Output (S6) information about the respective evaluation of the respective K Raft direction and / or reference direction on an output unit (4).