阅读说明：本技术 用于向对象施加处理力的机器人系统、设备和方法 (Robotic system, apparatus and method for applying a treatment force to an object ) 是由 N·贝姆 S·格策 于 2018-10-18 设计创作，主要内容包括：本发明涉及一种用于在机器人要针对对象执行的任务的范围内向对象施加处理力(F<Sub>P</Sub>)的机器人系统、设备和方法,该机器人系统允许具有同时反馈控制的由使用者输入的输入力(F<Sub>EIN</Sub>)的放大,以便实现任务的灵敏控制。(The invention relates to a method for applying a processing force (F) to an object within the scope of a task to be performed by a robot for the object P ) Allows input force (F) input by a user with simultaneous feedback control EIN ) To achieve sensitive control of the task.)

1. A robot system comprising a multi-axis manipulator (1), the manipulator (1) being adapted to apply a treatment force (F) to an object for a task_P) The manipulator (1) being assisted by the treatment force (F)_P) Interacting with the object, wherein the robot arm (1) is designed to, when in contact with the object,

-detecting an input force (F) directly exerted on the manipulator (1) by contact of a user_EIN)，

-transforming the input force (F) according to a defined transformation coefficient_EIN) Up to the processing force (F) associated with the task_P) The expected value of (c) is,

-detecting a reaction force (F) generated when the manipulator (1) is in contact with the object_GR) And is and

-converting the reaction force (F) according to a defined conversion factor_GR) To the user.

2. The robot system according to claim 1, wherein the manipulator (1) is further designed to change the conversion factor in order to amplify to the value of the processing Force (FP) during the execution of the task.

3. The robotic system of claim 1 or 2, wherein for the reaction force (F)_GB) Corresponds to the processing force (F)_P) Is the inverse of the conversion coefficient.

4. The robotic system of any one of claims 1-3, whichWherein the manipulator (1) comprises means for detecting the input force (F) of the user_EIN) At least one device (4).

5. Robot system according to any of claims 1-4, wherein the manipulator (1) comprises means for applying the reaction force (F)_GB) To at least one device (4) of said user.

6. The robotic system according to claim 4 or 5, wherein the device (4) is arranged at an end effector (2) of the manipulator (1).

7. Robot system according to any of the claims 1-6, wherein the robot system is compliance controlled, preferably impedance controlled, admittance controlled and/or torque controlled.

8. For applying a treatment force (F) to an object_P) The apparatus of (1), the apparatus comprising:

-at least one input device (4, 5, 6, 8), the input device (4, 5, 6, 8) being configured to determine an input force (F) for the object_EIN) The input device (4, 5, 6, 8) comprising means for detecting the input force (F)_EIN) At least one device of (a); and

-a robot system having a manipulator (1), the manipulator (1) being designed to apply a treatment force (F) to the object when in contact with the object_P) And to apply said input force (F) during application according to a defined conversion factor_EIN) Up to the treatment force (F)_P) A value of (d);

wherein the manipulator (1) is further configured to detect a reaction force (F) established when the manipulator (1) is in contact with the object_GR) And wherein the input device (4, 5, 6, 8) is configured to map this reaction force (F) according to a defined conversion coefficient_GR)。

9. The device according to claim 8, wherein the input device is formed separately from the manipulator (1) and is designed to determine the input force (F) upon contact with the manipulator (1)_EIN)。

10. The device according to claim 8, wherein the input device (4, 5, 6, 8) is arranged on the manipulator (1).

11. The device according to claim 9 or 10, wherein the input device (6) is designed to be actuated by a manipulator (11) of another robot system.

12. The device according to claim 9 or 10, wherein the input device is a user-portable and/or operable structure (5, 6, 8).

13. The device according to claim 12, wherein the structure (5, 6) is rigid and designed to cooperate with an end effector (2) of the robot arm (1).

14. The device according to any of claims 8 to 13, wherein the input device is further designed to determine the movement of the manipulator (1) when the input device is in contact with the manipulator (1).

15. The apparatus according to any of claims 8 to 14, wherein the robotic system is compliance controlled, preferably impedance controlled, admittance controlled and/or torque controlled.

16. Use of a robot system according to claims 1-7 or an apparatus according to claims 8-15 for processing a workpiece, wherein the object is a workpiece and the robot arm (1) is designed to process the workpiece by means of an end effector (2).

17. Use of a robot system according to claims 1-7 or an apparatus according to claims 8-15 for lifting and/or guiding and/or gripping an object, wherein the object is an article and the manipulator (1) is designed to lift and/or guide and/or grip the article by means of an end effector (2).

18. Use of a robot system according to claims 1-7 or an apparatus according to claims 8-15 for manipulating a human being, wherein the object is a human being and the manipulator (1) is designed to treat a part of a human body by means of an end effector (2).

19. Use of the robot system according to claims 1-7 or the apparatus according to claims 8-15 to teach the manipulator (1) for the sequence of movements and force distribution of tasks to be performed by the manipulator (1) of the robot system.

20. Wheelchair (12) for a user, comprising at least one robot system according to claims 1 to 7 or at least one apparatus according to claims 8 to 15.

21. Application of a treatment force (F) to an object by a manipulator (1) of a robot within the scope of a task to be performed for the object by the manipulator (1)_P) The method of (a), the method comprising the steps of:

-setting an input force (F) for the object by a user_EIN)；

-transmitting the input force (F) by the manipulator (1) according to a defined conversion factor_EIN) Amplification to treatment force (F)_P) A value of (d);

-applying the treatment force (F) to the object by the manipulator (1)_P)；

-detecting a reaction force (F) generated when the manipulator (1) is in contact with the object_GR) (ii) a And

-applying said reaction force (F)_GR) To the user.

22. Method according to claim 21, wherein said reaction force (F) is carried out according to a defined conversion coefficient_GB) Said defined conversion coefficient corresponding to a value for said treatment force (F)_P) Is determined by the inverse of said defined conversion coefficient.

23. Method according to claim 21 or 22, wherein the input force (F) is input by the user via a contact directly on the manipulator (1)_EIN)。

24. Method according to claim 21 or 22, wherein the input force (F) is input by the user via an input device (4, 5, 6, 8) cooperating with the manipulator (1)_EIN)。

25. Method according to claim 24, wherein said reaction force (F)_GB) Is transmitted to the user via the input device (4, 5, 6, 8).

26. Method according to any one of claims 21 to 25, wherein said defined conversion factor is relative to said treatment force (F)_P) Is variable, whereby the treatment force (F)_P) Is dynamically variable when applied to the object.

27. The method according to any one of claims 21 to 26, wherein at least one threshold value is assigned for the treatment force (F)_P) Or is assigned to the treatment force (F)_P)。