Patent ID: 11919167
Assignee: FRANKA EMIKA GMBH
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A method for specifying a safe velocity of a robot manipulator, the method comprising:
providing a database, wherein the database has a data record for each of a plurality of selected surface points on the robot manipulator, wherein each data record indicates, for each of a plurality of possible stiffnesses and/or masses of an object in the environment of the robot manipulator, a safe normal velocity of each of the surface points, wherein the normal velocity is the component of the velocity vector of each of the surface points which is perpendicular to the local surface of the robot manipulator at each of the surface points;
detecting an actual stiffness and/or an actual mass of the object in the environment of the robot manipulator by prior knowledge or by sensor detection, or assuming infinity;
assigning the detected actual stiffness and/or the actual mass to a safe normal velocity of the given data record for each of the surface points; and
specifying a velocity for each of the surface points on a current or planned path of the robot manipulator, such that the normal velocity occurring at each of the surface points is less than or equal to the assigned safe normal velocity.