Granted Patent B2

US 12,384,019 · App. 17/770,715 · Granted Aug 12, 2025

Inventor: Jacob Gregers Hansen (Kolding, DK)

Assignee: Universal Robots A/S

B25J9/0081B25J9/1674B25J13/085G05B19/423G05B2219/36418G05B2219/36429G05B2219/39194G05B2219/39529G05B2219/40586

Abstract

Claims (61)

1. A robot controller for controlling a robotic arm, the robot controller for switching the robotic arm between a first mode of operation and a free-drive mode of operation, where 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; and

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

wherein the free-drive mode of operation is activatable in response to a free-drive activation signal at the robot controller;

wherein, in response to the free-drive activation signal, the robotic controller is configured to perform operations comprising:

monitoring a value of at least one parameter of at least one sensor associated with a joint of the robotic arm, the monitoring being performed in an activation sequence period of time, and

comparing the value to at least one threshold value; and

wherein the robot controller is configured to switch the robotic arm to the free-drive mode of operation when the value of the at least one parameter does not exceed the at least one threshold value within the activation sequence period of time.

2. The robot controller of claim 1 , wherein the robot controller is configured to keep the robotic arm in the first mode of operation if the value of the at least one parameter does exceed the at least one threshold value within the activation sequence period of time.

3. The robot controller of claim 1 , wherein the robot controller is configured to initiate the free-drive mode of operation in response to receiving the free-drive activation signal for an activation period of time.

4. The robot controller of claim 3 , wherein the robot controller is configured to keep the robotic arm in the free-drive mode of operation for a free-drive period of time.

5. The robot controller of claim 4 , wherein the robot controller is configured to start a restart free-drive period of time when the robotic arm is static.

6. The robot controller of claim 5 , wherein the robot controller is configured cause the robotic arm to leave the free-drive mode of operation when the robotic arm has been kept static during the free-drive period of time or during the restart free-drive period of time.

7. The robot controller of claim 5 , wherein the robot controller is configured to present, on an interface device, a remainder of at least one of: the activation period of time, the activation sequence period of time, the free-drive period of time, or the restart free-drive period of time.

8. The robot controller of claim 1 , wherein the robot controller is configured to cause the robotic arm to leave the free-drive mode of operation in response to receiving a free-drive deactivation signal.

9. The robot controller of claim 1 , wherein the at least one parameter comprises at least one of: speed, acceleration, torque, motor torque, force or position.

10. The robot controller of claim 1 , wherein a threshold value relating to a first parameter is different from a threshold value relating to a second parameter.

11. The robot controller of claim 1 , wherein at least one threshold value is based on a virtual three-dimensional geometric shape surrounding a part of the robotic arm.

12. The robot controller of claim 1 , wherein the robot controller is configured to determine when the free-drive activation signal is set by a user by providing feedback to the user in response to detecting the free-drive activation signal; and

wherein the robot controller is configured to switch the robotic arm to the free-drive mode of operation in response to detecting a confirmation signal responding to the feedback.

13. The robot controller of claim 12 , wherein the confirmation signal is set by user activation of at least one sensor associated with a joint of the robotic arm.

14. The robot controller of claim 1 , wherein the free-drive activation signal is set by user activation of at least one joint sensor associated with a joint of the robotic arm.

15. The robot controller of claim 1 , wherein the free-drive activation signal is set by activation of a force sensor of the robotic arm; and

wherein a value of force measured following activation of the force sensor is above a predetermined force threshold value.

16. The robot controller of claim 15 , wherein the predetermined force threshold value comprises-force at a predetermined orientation in space.

17. The robot controller of claim 1 , wherein the free-drive activation signal is set by activation of a force and torque sensor of the robotic arm.

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

an output flange rotatable in relation to a joint body;

a motor configured to rotate the output flange;

the at least one sensor comprising at least one joint 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 motor current of the motor; and

at least one robot controller of claim 1 configured to control the joints by controlling motor torque provided by one or more motors for the joints based on one or more sensor signals from the at least one joint sensor.

19. The robot controller of claim 1 , wherein the at least one parameter comprises at least one of an angular position, an angular velocity, or an angular acceleration of the joint.

20. The robot controller of claim 1 , wherein the at least one threshold value is based on a virtual geometric shape predefined and/or dynamically configured based on the posture of the robot arm.

21. A method of activating a free-drive mode of operation of a robotic arm, wherein 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; and

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

wherein the method comprises:

receiving a free-drive activation signal at a robot controller;

starting a free-drive activation sequence at the robot controller in response to receiving the free-drive activation signal, wherein the free-drive activation sequence comprises:

monitoring a value of at least one parameter of at least one sensor associated with a joint of the robotic arm, the monitoring being performed in an activation sequence period of time; and

comparing the value to at least one threshold value; and

wherein the robot controller changes the robotic arm to the free-drive mode of operation when the value of the at least parameter does not exceed the at least one threshold value within the activation sequence period of time.

22. The method of claim 21 , wherein starting the free-drive activation sequence is performed in response to receiving the free-drive activation signal for an activation period of time.

23. The method of claim 21 , wherein the free-drive mode of operation is maintained for a free-drive period of time.

24. The method of claim 23 , further comprising:

starting a restart free-drive period of time at the robot controller when the robotic arm is static.

25. The method of claim 24 , further comprising:

causing the robotic arm to leave the free-drive mode of operation when the robotic arm has been kept static during the free-drive period of time or during the restart free-drive period of time.

26. The method of claim 23 , further comprising:

obtaining a free-drive deactivation signal at the robot controller; and

leaving the free-drive mode of operation in response to receiving the free-drive deactivation signal.

27. The method according to claim 26 , wherein obtaining the free-drive deactivation signal comprises:

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

comparing the monitored value to at least one threshold value; and

setting the free-drive deactivation signal when the monitored value of the at least one parameter does exceed the at least one threshold value.

28. The method of claim 21 , wherein the free-drive activation signal is based on a user applying a force at a part of the robotic arm.

29. The method of claim 28 , wherein applying a force at a part of the robotic arm comprises applying force at a predetermined orientation in space and at a predetermined position on the robotic arm.

30. The method of claim 28 , wherein applying a force at a part of the robotic arm comprises applying a force to a force-torque sensor the robotic arm; and

wherein the free-drive activation signal is set when a force obtained by the force-torque sensor is above a predetermined force value and a torque obtained by the force-torque sensor is below a predetermined torque value.

31. The method of claim 21 , wherein the at least one parameter comprises at least one of an angular position, an angular velocity, or an angular acceleration of the joint.

32. The method of claim 21 , wherein the at least one threshold value is based on a virtual geometric shape predefined and/or dynamically configured based on the posture of the robot arm.

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (280)