The invention relates to a robot manipulator (1) having robot limbs, wherein the robot limbs GLn can be moved in pairs with respect to one another by means of bearings (7) which can be controlled by actuators, having bearing sensors (9) for capturing a bearing position and a bearing torque/bearing force, having a first sensor (11) which is distally arranged on one of the robot limbs and is designed to capture a force screw W, having an operating housing (13) which is arranged on a robot limb in the proximal direction downstream of the first sensor (11), having a second sensor (15) which is arranged on the operating housing (13) and is used to capture a user force applied to the operating housing (13) and/or a user torque, and having a computing unit (17) which is designed to determine, by means of a dynamics model of the robot manipulator (1) and on the basis of the particular bearing torque/bearing force of the force screw W and the user force and/or the user torque, a first desired force and/or a first desired torque for shifting the robot limbs GLn and a second desired force and/or a second desired torque for applying to an external object by means of the end effector (5), wherein the dynamics model comprises at least gravitational forces and inertial forces on the basis of the particular bearing position, and finally having a storage unit (19) for storing the first and/or the second desired force and/or the first and/or the second desired torque.
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机译：具有机器人肢体的机器人操纵器技术领域本发明涉及一种具有机器人肢体的机器人操纵器（1），其中，机器人肢体GL n 可以通过轴承（7）成对地彼此相对移动，轴承可以由致动器控制。具有用于捕获轴承位置和轴承扭矩/轴承力的轴承传感器（9），该传感器具有第一传感器（11），该传感器布置在机器人肢体的一个末端上，并设计成捕获力螺丝W，壳体（13），其在第一传感器（11）的下游沿近端方向布置在机器人肢体上，并具有第二传感器（15），第二传感器（15）布置在操作壳体（13）上，用于捕获施加的用户力到操作壳体（13）和/或用户扭矩上，并具有计算单元（17），该计算单元设计用于通过机器人操纵器（1）的动力学模型并基于特定的轴承扭矩来确定力螺丝W的/承载力和使用者的力和/或使用者的扭矩t用于移动机器人肢体GL n 的所需力和/或第一所需扭矩，以及用于通过端部执行器施加到外部物体的第二所需力和/或第二所需扭矩（5 ），其中动力学模型至少包括基于特定轴承位置的重力和惯性力，并最终具有用于存储第一和/或第二所需力和/或第一和/或/或第二期望扭矩。
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