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Method for manually handled adjustment of the pose of an industrial robot manipulator arm of an industrial robot and associated industrial robot
Method for manually handled adjustment of the pose of an industrial robot manipulator arm of an industrial robot and associated industrial robot
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机译:手动调节工业机器人的工业机器人操纵器臂的姿势的方法及相关工业机器人
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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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