Method for specifying an input value on a robotic manipulator
A method of specifying an input value on a robotic manipulator, wherein the method includes: selecting a particular predefined input device to be emulated, wherein the input device to be emulated is assigned at least one degree of freedom of the robotic manipulator and local limits in the at least one degree of freedom, and a transfer function of a coordinate of the robotic manipulator in the at least one degree of freedom is assigned onto the input value; actuating the robotic manipulator such that at least one part of the robotic manipulator is manually movable in the at least one degree of freedom and within the local limits; recording a respective coordinate in the at least one degree of freedom during or after completion of an input on the robotic manipulator via a sensor unit; and applying the transfer function to assign the respective coordinate to the input value.
1. A method of specifying an input value on a robotic manipulator, wherein the robotic manipulator comprises a plurality of limbs connected to one another by articulations and movable with respect to one another by actuation, the method comprising:
selecting a particular input device to be emulated from a plurality of predefined input devices by specification on the part of a user or by a control unit of the robotic manipulator, wherein each of the plurality of input devices to be emulated is assigned at least one degree of freedom of the robotic manipulator and local limits in the at least one degree of freedom corresponding to each of the plurality if input devices, and a transfer function of a coordinate of the robotic manipulator in the at least one degree of freedom is assigned onto the input value;
actuating the robotic manipulator in such a manner that at least one part of the robotic manipulator is manually movable by a user in the at least one degree of freedom assigned to the particular input device selected to be emulated and within the local limits assigned to the particular input device selected to be emulated, wherein the particular input device selected to be emulated is a virtual physically existing device that has physical behavior imitated by the robot manipulator being manually moved by the user;
recording a respective coordinate in the at least one degree of freedom during or after completion of an input, the input performed via manual guiding on the robotic manipulator by the user, the respective coordinate recorded via at least one sensor unit connected to the robotic manipulator; and
applying the transfer function to assign the respective coordinate to the input value associated with corresponding actuation of the particular input device selected to be emulated.
2. The method according to claim 1 , wherein the actuation of the robotic manipulator occurs in such a manner that all remaining parts of the robotic manipulator are blocked against the manual guiding on the part of the user.
3. The method according to claim 1 , wherein actuation of the robotic manipulator occurs in such a manner that at least a subset of remaining parts of the robotic manipulator is enabled for manual guiding on the part of the user.
4. The method according to claim 1 , wherein the actuation of the robotic manipulator occurs in such a manner that at least one part of the robotic manipulator in the at least one degree of freedom outputs a haptic feedback, wherein the haptic feedback is a resistance, wherein the resistance varies over a distance of the manual guiding, with respect to a force of the user during the manual guiding of the robotic manipulator.
5. The method according to claim 4 , wherein the resistance has a local minimum where the respective coordinate in the at least one degree of freedom of the robotic manipulator coincides with a whole number of a result from application of the transfer function.
6. The method according to claim 1 , wherein the method further comprises:
continuously recording the respective coordinate in the at least one degree of freedom during the input performed by the manual guiding on the part of the user on the robotic manipulator via the at least one sensor unit connected to the robotic manipulator, and
outputting the input value on an optical output unit in synchronization with continuous recording of the respective coordinate via the control unit connected to the optical output unit.
7. The method according to claim 1 , wherein the input device to be emulated is one of the following:
sliding controller;
rotary controller;
joystick; and
push button.
8. The method according to claim 1 , wherein selection of the particular input device to be emulated occurs by performing and recording a haptic gesture executed by the user on the robotic manipulator.
9. The method according to claim 1 , wherein selection of the particular input device to be emulated occurs by recording an input entered by the user on a touch-sensitive screen, wherein the touch-sensitive screen is arranged on the robotic manipulator or on a gripper arranged on the robotic manipulator.
10. A robotic manipulator comprising a plurality of limbs connected to one another by articulations and movable with respect to one another by actuation, the robotic manipulator comprising:
a specification element configured to select a particular input device to be emulated from a plurality of predefined input devices to be emulated, wherein each of the plurality of input devices to be emulated is assigned at least one degree of freedom of the robotic manipulator and local limits in the at least one degree of freedom corresponding to each of the plurality if input devices, and a transfer function of a coordinate of the robotic manipulator in the at least one degree of freedom is assigned onto the input value,
a control unit configured to actuate the robotic manipulator in such a manner that at least one part of the robotic manipulator is manually movable by a user in the at least one degree of freedom assigned to the particular input device selected to be emulated and within the local limits assigned to the particular input device selected to be emulated, wherein the particular input device selected to be emulated is a virtual physically existing device that has physical behavior imitated by the robot manipulator being manually moved by the user;
a sensor unit connected to the robotic manipulator, the sensor unit configured to record a respective coordinate in the at least one degree of freedom during or after completion of an input, the input performed by manual guiding on the robotic manipulator by a user; and
wherein the control unit is configured to apply the transfer function to assign the respective coordinate to the input value associated with corresponding actuation of the particular input device selected to be emulated.
11. The robotic manipulator according to claim 10 , wherein actuation of the robotic manipulator occurs in such a manner that all remaining parts of the robotic manipulator are blocked against the manual guiding on the part of the user.
12. The robotic manipulator according to claim 10 , wherein actuation of the robotic manipulator occurs in such a manner that at least a subset of remaining parts of the robotic manipulator is enabled for manual guiding on the part of the user.
13. The robotic manipulator according to claim 10 , wherein the actuation of the robotic manipulator occurs in such a manner that at least one part of the robotic manipulator in the at least one degree of freedom outputs a haptic feedback, wherein the haptic feedback is a resistance, wherein the resistance varies over a distance of the manual guiding, with respect to a force of the user during the manual guiding of the robotic manipulator.
14. The robotic manipulator according to claim 13 , wherein the resistance has a local minimum where the respective coordinate in the at least one degree of freedom of the robotic manipulator coincides with a whole number of a result from application of the transfer function.
15. The robotic manipulator according to claim 10 , wherein:
the sensor unit is further configured to continuously record the respective coordinate in the at least one degree of freedom during the input performed by the manual guiding on the part of the user on the robotic manipulator, and
the control unit is further configured to output the input value on an optical output unit in synchronization with continuous recording of the coordinate.
16. The robotic manipulator according to claim 10 , wherein the input device to be emulated is one of the following:
sliding controller;
rotary controller;
joystick; and
push button.
17. The robotic manipulator according to claim 10 , wherein selection of the particular input device to be emulated occurs by performing and recording a haptic gesture executed by the user on the robotic manipulator.
18. The robotic manipulator according to claim 10 , wherein selection of the particular input device to be emulated occurs by recording an input entered by the user on a touch-sensitive screen, wherein the touch-sensitive screen is arranged on the robotic manipulator or on a gripper arranged on the robotic manipulator.