Title:
METHOD FOR OPERATING A ROBOT, ROBOT, TRANSLATION ROBOT, ROBOT SYSTEM AND METHOD FOR OPERATING THE ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2012/171940
Kind Code:
A3
Abstract:
The invention relates to a method for operating a robot, which comprises a link chain having at least two coupling links, a first coupling link (120) thereof being connected to a driven crank link (110), which can be rotated around a first rotation axis (112), in a second rotation axis (122) in a pivoting manner, and a second coupling link (130) thereof being connected to the first coupling link in a third rotation axis (132) in a pivoting manner. A drive (124) for the first coupling link is arranged on the second rotation axis and the second coupling link has an effector rotation point (160) on the end region thereof which is opposite the first coupling link, wherein the method is designed such that the crank link and the first coupling link are driven in such a manner that the effector rotation point dwells in a resting position during the rotation of the crank link in a specific angle range. According to the invention, a torque is applied to the first coupling link by means of the drive on the second rotation axis in order to shorten the dwell time of the effector rotation point, which torque in the time span of the desired dwell duration equals a maximum of 5% of the torque that would be necessary to implement a dwelling of the effector rotation point having an unshortened dwell duration. The invention furthermore relates to a robot for carrying out the method.
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Inventors:
BRETT TOBIAS (DE)
QUIEL HOLGER (DE)
QUIEL HOLGER (DE)
Application Number:
PCT/EP2012/061164
Publication Date:
September 06, 2013
Filing Date:
June 13, 2012
Export Citation:
Assignee:
UNIV BERLIN TECH (DE)
BRETT TOBIAS (DE)
QUIEL HOLGER (DE)
BRETT TOBIAS (DE)
QUIEL HOLGER (DE)
International Classes:
B25J9/04
Domestic Patent References:
| WO2005065893A2 | 2005-07-21 |
Foreign References:
| JPH08118269A | 1996-05-14 | |||
| US20100150688A1 | 2010-06-17 | |||
| EP0913236A2 | 1999-05-06 |
Attorney, Agent or Firm:
GULDE HENGELHAUPT ZIEBIG & SCHNEIDER (Berlin, DE)
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