Granted Patent B2

US 12,296,485 · App. 17/770,896 · Granted May 13, 2025

Inventor: Jacob Gregers Hansen (Kolding, DK)

Assignee: Universal Robots A/S

B25J9/1641

Abstract

Claims (55)

1. A robot controller for controlling a robotic arm, the robot controller for switching the robotic arm from a first mode of operation to a free-drive mode of operation in response to a free-drive mode signal, where, in the free-drive mode of operation, the robot controller is configured to perform operations comprising:

keeping the robotic arm in a posture that is static when only gravity acts on the robotic arm;

allowing a change in the posture of the robotic arm when an external force different from gravity is applied to the robotic arm;

monitoring a value of at least one parameter based on a signal of at least one sensor associated with a joint of the robotic arm;

comparing the value of the at least one parameter to at least one threshold value;

keeping the robotic arm in the free-drive mode of operation when the value of the at least one parameter does not exceed the at least one threshold value during a free-drive safety period;

wherein the at least one threshold value is based on a virtual three-dimensional geometric shape surrounding a part of the robotic arm;

wherein the free-drive safety period comprises a time period within which at least part of the robotic arm is allowed to move within the virtual three-dimensional geometric shape without creating a hazard; and

redefining the virtual three-dimensional geometric shape following expiration of the free-drive safety period and when the value of the at least one parameter has not exceeded the virtual three-dimensional geometric shape during the free-drive safety period.

2. The robot controller of claim 1 , wherein, in the free-drive mode of operation, the robot controller is configured to fix a position of the virtual three-dimensional geometric shape in relation to a reference point that is in surroundings of the robotic arm and that is fixed in relation to a stationary part of the robotic arm.

3. The robot controller of claim 2 , wherein the robot controller is configured to define the position of the virtual three-dimensional geometric shape based on a position of the part of the robotic arm in relation to the reference point.

4. The robot controller of claim 3 , wherein, during the free-drive mode of operation, the robot controller is configured to redefine the position of the virtual three-dimensional geometric shape in relation to the reference point.

5. The robot controller of claim 1 , wherein the robot controller is configured to define a position of the virtual three-dimensional geometric shape in relation to a reference point based on a plurality of positions of the part of the robotic arm in relation to a fixed point corresponding to an object in surroundings of the robotic arm, where the plurality of positions of the part of the robotic arm have been obtained at different points in time.

6. The robot controller of claim 1 , wherein the robot controller is configured to provide feedback to a user upon determining if the value of the at least one parameter is within a feedback value relating to the virtual three-dimensional geometric shape.

7. The robot controller of claim 6 , wherein the feedback comprises force provided by a part of the robotic arm, where the force is in a direction away from the virtual three-dimensional geometric shape.

8. The robot controller of claim 7 , wherein a size of the force increases as the value of the at least one parameter approaches the virtual-dimensional geometric shape.

9. A robotic arm comprising joints connecting a base and a tool flange, each of the robot joints comprising:

an output flange rotatable in relation to a robot joint body;

a motor configured to rotate the output flange; and

at least one sensor for providing a sensor signal indicative of at least one of an angular position of the output flange, an angular position of a shaft of the motor, or a current of the motor;

wherein the robotic arm comprises at least one robot controller of claim 1 configured to control the joints by controlling motor torque provided by one or more motors based on one or more sensor signals.

10. A method of operating a robotic arm in a free-drive mode of operation, where the robotic arm has been switched into the free-drive mode of operation by a robot controller in response to receiving a free-drive mode signal set by a user, where the free-drive mode of operation comprises:

keeping the robotic arm in a posture that is static when only gravity acts on the robotic arm;

changing the posture of the robotic arm when an external force different from gravity is applied to the robotic arm;

monitoring a value of at least one parameter associated with a sensor of a joint on the robotic arm;

comparing the value of the at least one parameter to at least one threshold value, where the at least one threshold value is based on a virtual three-dimensional geometric shape surrounding a part of the robotic arm;

keeping the robotic arm in the free-drive mode of operation when the value of the at least one parameter does not exceed the virtual three-dimensional geometric shape within at a free-drive safety period, where the free-drive safety period comprises a time period within which at least part of the robotic arm is allowed to move within the virtual three-dimensional geometric shape without creating a hazard; and

redefining the virtual three-dimensional geometric shape following expiration of the free-drive safety period and when the value of the at least one parameter has not exceeded the virtual three-dimensional geometric shape during the free-drive safety period.

11. The method of claim 10 , further comprising:

fixing a position of the virtual three-dimensional geometric shape in relation to a reference point following receipt of the free-drive mode signal, the reference point being in surroundings of the robotic arm and fixed in relation to a stationary part of the robotic arm.

12. The method of claim 11 , further comprising:

during the free-drive mode of operation, redefining the position of the virtual three-dimensional geometric shape in relation to the reference point.

13. The method of claim 10 , further comprising:

providing feedback to the user when the value of the at least one parameter is within a feedback value relating to the virtual three-dimensional geometric shape.

14. The method of claim 13 , wherein providing feedback to the user comprises providing a force using at least a part of the robotic arm, where the force is in a direction away from the virtual-dimensional geometric shape.

15. The method of claim 14 , wherein providing the force comprises increasing the force as the value of the at least one parameter approaches the virtual-dimensional geometric shape.

16. A system comprising a robotic arm, the system comprising:

a base;

a tool flange;

joints connecting the base and the tool flange, each of the joints comprising:

an output flange rotatable in relation to a body of a joint;

a motor configured to rotate the output flange; and

at least one sensor for providing a sensor signal indicative of at least one of an angular position of the output flange, an angular position of a shaft of the motor, or a current of the motor; and

at least one robot controller configured to control one or more of the joints by controlling motor torque of one or more motors based on one or more sensor signals, the at least one robot controller being configured to perform operations comprising:

monitoring a value of at least one parameter that is based on the sensor signal of the at least one sensor for the one or more of the joints;

comparing the value of the at least one parameter to at least one threshold value;

keeping the robotic arm in a free-drive mode of operation when the value of the at least one parameter does not exceed the at least one threshold value during a free-drive safety period;

wherein the at least one threshold value is based on a virtual three-dimensional geometric shape surrounding a part of the robotic arm;

redefining the virtual three-dimensional geometric shape following expiration of the free-drive safety period and when the value of the at least one parameter has not exceeded the virtual three-dimensional geometric shape during the free-drive safety period;

wherein the free-drive safety period comprises a time period within which at least part of the robotic arm is allowed to move within the virtual three-dimensional geometric shape without creating a hazard; and

wherein in the free-drive mode of operation, a posture of the robotic arm is changeable through application of force to the robotic arm and where, in the absence of the force, the at least one robot controller is configured to maintain a posture of the robotic arm.

17. The system of claim 16 , wherein, in the free-drive mode of operation, the at least one robot controller is configured to fix a position of the virtual three-dimensional geometric shape in relation to a reference point that is in surroundings of the robotic arm and a distance from at least the part of the robotic arm.

18. The system of claim 17 , wherein the at least one robot controller is configured to define the position of the virtual three-dimensional geometric shape based on a position of the part of the robotic arm in relation to the reference point.

19. The system of claim 18 , wherein, during the free-drive mode of operation, the at least one robot controller is configured to redefine the position of the virtual three-dimensional geometric shape in relation to the reference point.

20. The system of claim 16 , wherein the at least one robot controller is configured to define a position of the virtual three-dimensional geometric shape in relation to a reference point based on a plurality of positions of the robotic arm in relation to a fixed point corresponding to an object in surroundings of the robotic arm, where the plurality of positions of the robotic arm have been obtained at different points in time, the reference point being in surroundings of the robotic arm and a distance from at least part of the robotic arm.

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (275)

Cited By (1)

US 12,480,788