Method and device for controlling a manipulator

1. A method for controlling a manipulator, the method comprising:

assuming a pose by the manipulator according to a rigid regulation;

determining by a control device one or more contact force values between the manipulator and a first workpiece by comparing an actual driving force of the manipulator to a drive force according to a dynamic model of the manipulator;

determining that one of the one or more determined contact force values exceeds a predetermined value;

switching to a compliant regulation in response to determining that the one determined contact force value exceeds the predetermined value; and

joining a second workpiece and the first workpiece under the compliant regulation, wherein a joining state of the first and second workpieces is monitored based on the one or more determined contact force values, and the second and first workpieces are joined using an elastic or plastic deformation.

2. The method according to claim 1 , wherein switching to a compliant regulation if one of the one or more determined contact force values exceeds a predetermined value comprises:

switching to the compliant regulation within a maximum of 3 milliseconds after a determination that the one of the one or more determined contact force values exceeds the predetermined value.

3. The method according to claim 1 , wherein at least one target force as well as at least one target movement are predetermined in the compliant regulation for joining the first and second workpieces.

4. The method according to claim 1 , further comprising:

changing a joining strategy based on at least one of an end pose of the manipulator obtained under the compliant regulation, a speed of a temporal change of the manipulator, or at least one of the one or more determined contact force values.

5. The method according to claim 1 , wherein joining a second workpiece and the first workpiece comprises:

holding the second workpiece by the manipulator in at least two force-contacts;

placing the second workpiece in a joining starting position; and

moving the second workpiece into a joining end position while releasing at least one of the force-contacts.

6. The method according to claim 5 , wherein moving the second workpiece into a joining end position while releasing at least one of the force-contacts comprises:

retaining one of the force-contacts, wherein the retained force-contact holds the second workpiece in a form-locking manner.

7. The method of claim 1 , wherein the driving force of the manipulator comprises a driving torque of the manipulator, and the drive force according to the dynamic model of the manipulator comprises a drive torque according to the dynamic model of the manipulator.

8. The method of claim 1 , wherein the first workpiece comprises an aperture for receiving at least a portion of the second workpiece.

9. The method of claim 1 , wherein the rigid regulation comprises a position regulation.

10. A control device for a manipulator, in particular a robot, the control device configured to:

actuate the manipulator to assume a pose according to a rigid regulation;

determine one or more contact force values between the manipulator and a first workpiece by comparing an actual driving force of the manipulator to a drive force according to a dynamic model of the manipulator;

determine that one of the one or more determined contact force values exceeds a predetermined value;

switch to a compliant regulation in response to determining that the one determined contact force value exceeds the predetermined value; and

join a second workpiece and the first workpiece under the compliant regulation, wherein a joining state of the first and second workpieces is monitored based on the one or more determined contact force values, and the second and first workpieces are joined using an elastic or plastic deformation.

11. The control device of claim 10 , wherein the first workpiece comprises an aperture for receiving at least a portion of the second workpiece.

12. The method of claim 10 , wherein the rigid regulation comprises a position regulation.

13. A computer program product, comprising:

a non-transitory computer readable medium; and

program code stored on the computer readable medium that, when executed by one or more processors, causes the processors to:

actuate the manipulator to assume a pose according to a rigid regulation;

determine one or more contact force values between the manipulator and a first workpiece by comparing an actual driving force of the manipulator to a drive force according to a dynamic model of the manipulator;

determine that one of the one or more determined contact force values exceeds a predetermined value;

switch to a compliant regulation in response to determining that the one determined contact force value exceeds the predetermined value; and

join a second workpiece and the first workpiece under the compliant regulation, wherein a joining state of the first and second workpieces is monitored based on the one or more determined contact force values, and the second and first workpieces are joined using an elastic or plastic deformation.

14. The computer program product of claim 13 , wherein the first workpiece comprises an aperture for receiving at least a portion of the second workpiece.

15. The method of claim 13 , wherein the rigid regulation comprises a position regulation.