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Method and apparatus for open-loop and closed-loop control of robot actuator considering environmental contact
Method and apparatus for open-loop and closed-loop control of robot actuator considering environmental contact
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机译:考虑环境接触的机器人执行器开环和闭环控制的方法和装置
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摘要
A method and device for the control and regulation of actuators of a robot, taking environmental contacts into consideration, wherein the robot comprises at least two parts, which are connected by an articulated joint drivable by an actuator. The method comprises: by way of a sensor system, ascertaining and storing a time-dependent variable, as a function of the time, of one or more external contact forces and/or of one or more external moments on the parts, providing a condition for the variable, classifying the feature vector based on predefined categories, which each indicate a contact type between one of the parts or the articulated joint and an object in a surrounding environment, which are each imparted by corresponding external contact forces and/or external contact moments, to generate a classification result, and open-loop and/or closed-loop control of the actuator as a function of the classification result.
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