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Method for manually adjusting the pose of a manipulator arm of an industrial robot and industrial robots
Method for manually adjusting the pose of a manipulator arm of an industrial robot and industrial robots
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机译:手动调整工业机器人的机械手的姿势的方法和工业机器人
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摘要
A method for manually guided adjustment of the pose of a manipulator arm of an industrial robot includes detecting a guidance force applied to the manipulator arm by an operator of the industrial robot, determining one of at least two degrees-of-freedom of a reference coordinate system as a selected freedom direction, wherein the selected freedom direction corresponds to the degree-of-freedom in which the guidance force has its greatest force vector component, and controlling the drives of the industrial robot using force control in such a manner that a pre-specified reference point associated with the manipulator arm is moved only in the selected freedom direction as a result of movement of the manipulator arm by an operator during a manually-guided adjustment of the pose of the manipulator arm.
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