Movement command method for service robot uses sensors detecting direct control of robot arm by operator with conversion of sensor values into movement commands after correction for robot arm weight

摘要

The movement command method has the movement of the service robot arm (1) controlled directly by an operator, with sensors for detecting applied torques, forces and/or movements, providing measured values subjected to correction for components affected by the characteristic weight of the robot arm, using cinematic or dynamic robot parameters. The corrected measured values are converted into forces and moments acting on the mobile platform (3) and interpreted as movement commands.