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1. 发明申请

US20190315002A1 METHOD FOR PRODUCING A ROBOT AND DEVICE FOR CARRYING OUT SAID METHOD 审中-公开
公开(公告)号：US20190315002A1
公开(公告)日：2019-10-17
申请号：US16095336
申请日：2017-04-20
申请人： KASTANIENBAUM GMBH
发明人： Sami Haddadin
IPC分类号： B25J19/00 , B25J9/16
摘要： The invention relates to a method and to a device for producing a robot with a robotic arm. Said method can be carried out using an assembly robot wherein first housing segments are arranged in an intended sequence for the robotic arm, drive units are inserted into the first housing segments and the respective complimentary second housing segments are placed on the first housing segments comprising the drive units.

2. 发明申请

US20180290301A1 ROBOT ARM WITH INPUT ELEMENTS 审中-公开
公开(公告)号：US20180290301A1
公开(公告)日：2018-10-11
申请号：US15766925
申请日：2016-10-04
申请人： Kastanienbaum GmbH
发明人： Sami HADDADIN
IPC分类号： B25J9/16 , B25J9/00 , B25J17/02 , B25J9/04
摘要： A robot arm allowing an improved ergonomic operation during a learning programming process of a robot having a robot arm with a number N of arm components An, which can be connected to a robot body via a number N of actuator-drivable joint connections GVn, where n=1, 2, . . . , N.

3. 发明申请

US20170239815A1 Method and Device for Open-Loop/Closed-Loop Control of a Robot Manipulator 审中-公开
公开(公告)号：US20170239815A1
公开(公告)日：2017-08-24
申请号：US15515038
申请日：2015-09-28
申请人： Kastanienbaum GmbH
发明人： Sami Haddadin
IPC分类号： B25J9/16 , B25J19/06 , B25J13/08
CPC分类号： B25J9/1676 , B25J13/085 , B25J19/063 , G05B2219/40198 , G05B2219/40201 , G05B2219/40202
摘要： The invention relates to a device and to a method for open-loop/closed-loop control of a robot manipulator (202), which comprises a sensor (203) for detecting an interaction with an environment. The proposed method is characterized in that a force-time curve of an external force (I) acting on the robot manipulator (202) is detected by the sensor (203), and, if the value of the detected force (II) is higher than a defined threshold value G1: (II)>G1, a safety mode of the robot manipulator (202) is activated, which open-loop controls a movement speed (III) and/or a movement direction (IV) depending on the detected force (I), wherein the movement speed (III) and/or the movement direction (IV) of the robot manipulator (202) is/are open-loop/closed-loop controlled depending on predetermined medical injury parameters before the safety mode is activated.

4. 外观设计

USD931921S1 User interface for a robot 有权
公开(公告)号：USD931921S1
公开(公告)日：2021-09-28
申请号：US29688251
申请日：2019-04-19
申请人： Kastanienbaum GmbH
设计人： Sami Haddadin

5. 发明授权

US10675756B2 Device and method for performing open-loop and closed-loop control of a robot manipulator 有权
公开(公告)号：US10675756B2
公开(公告)日：2020-06-09
申请号：US15548377
申请日：2016-02-02
申请人： KASTANIENBAUM GMBH
发明人： Sami Haddadin
IPC分类号： B25J9/16
摘要： The invention relates to a device and method for performing open-loop and closed-loop control of a robot manipulator that has an end effector, driven by a number M of actuators ACTm. The invention includes a first unit which registers and/or makes available an external force wrench {right arrow over (F)}ext(t)={{right arrow over (f)}ext(t),{right arrow over (m)}ext(t)} acting on the end effector, a controller which is connected to the first unit and to the actuators ACTm and which includes a first controller R1, which is a force controller, and a second controller R2 which is connected thereto and which is an impedance controller, an admittance controller, a position controller or a cruise controller, wherein the controller determines actuating variables um(t) with which the actuators ACTm can be actuated in such way that when the end effector contacts a surface of an object, the end effector acts on the object with a desired force wrench {right arrow over (F)}D(t)={{right arrow over (f)}D(t),{right arrow over (m)}D(t)}; where um(t)=um,R1(t)+um,R2(t), wherein the first controller R1 is embodied and configured in such a way that the actuating variable um,R1(t) of R1 is determined as a product of a variable um,R1(t)* output by R1 and a function S(v(t)), or as a Q-dimensional function S*(v*(t), um,R1(t)*), where: um,R1(t)=S(v(t))·um,R1(t)* or um,R1(t)=S*(v*(t), um,R1(t)*); v(t)=v({right arrow over (F)}D(t), {right arrow over (R)}(t)); vϵ[va, ve], v*(t)=v*({right arrow over (F)}D(t), {right arrow over (R)}(t))=[v1*({right arrow over (F)}D(t), {right arrow over (R)}(t)), . . . , vQ*({right arrow over (F)}D(t), {right arrow over (R)}(t))].

6. 发明授权

US10464210B2 Method and device for open-loop/closed-loop control of a robot manipulator 有权
公开(公告)号：US10464210B2
公开(公告)日：2019-11-05
申请号：US15515038
申请日：2015-09-28
申请人： Kastanienbaum GmbH
发明人： Sami Haddadin
IPC分类号： B25J9/16 , B25J13/08 , B25J19/06
摘要： The invention relates to a device and a method of controlling a robot manipulator, which includes a sensor for detecting an external force during an interaction of the robot manipulator with an environment. The proposed method is characterized in that a force-time curve is determined for the external force acting on the robot manipulator detected by the sensor, and, if the value of the detected external force is higher than a defined threshold value, a safety mode of the robot manipulator is activated, which controls a movement speed and/or a movement direction depending on the detected external force, wherein the movement speed and/or the movement direction of the robot manipulator is/are controlled depending on predetermined medical injury parameters before the safety mode is activated.

7. 发明申请

US20190168383A1 METHOD AND DEVICE FOR DEFINING A MOVEMENT SEQUENCE FOR A ROBOT 审中-公开
公开(公告)号：US20190168383A1
公开(公告)日：2019-06-06
申请号：US16095622
申请日：2017-04-21
申请人： KASTANIENBAUM GMBH
发明人： Sami Haddadin
IPC分类号： B25J9/16 , G05B19/423
摘要： The present invention relates to a method and to a device for defining a movement sequence for a multi-axis manipulator of a robot system, which manipulator has a plurality of elements which form different rotational axes, and an end element for interaction with an effector, wherein the effector is intended to carry out at least one arbitrary operation in a working space, and wherein in order to carry out the at least one arbitrary operation the end element of the manipulator is to be transferred into an arbitrary target pose with respect to the working space, wherein the manipulator moves in a plurality of steps to the target pose while approaching the end element, and for each step at least one defined impedance pattern and/or admittance pattern is defined with respect to at least one axis which forms the axis of a coordinate system which is linked to the manipulator.

8. 发明申请

US20170047872A1 Method and Arrangement for Reducing the Torque Ripple of a DC Motor 审中-公开
标题翻译：减小直流电机扭矩波纹的方法和布置
公开(公告)号：US20170047872A1
公开(公告)日：2017-02-16
申请号：US15305912
申请日：2015-04-23
申请人： Kastanienbaum GmbH
发明人： Andreas Spenninger , Niklas Böhme , Sami Haddadin
IPC分类号： H02P6/10 , H02P27/08 , H02P21/22
CPC分类号： H02P6/10 , H02P21/22 , H02P27/08
摘要： The invention relates to a method and to an arrangement for reducing the torque ripple of a brushless DC motor (6) having a stator, a rotor, and a motor control unit, via which motor control unit the motor is controlled in a polyphase manner, having a data memory (1) for storing rotational angle-dependent correction data of the control current of the motor (6), which are impressed on the instantaneous values for controlling the motor. According to the invention, in a first step, for each position of the rotor, the phase currents holding the rotor in this position are determined and are used to derive reference current data, which is stored in a table of the data memory (19) together with the respective position data of the rotor, determined by the position sensor, and, in a second step, during continuous operation of the motor, the position-dependent reference current data stored in the data memory is combined with the control current of the motor. In a preferred refinement of the invention, the reference current data is conditioned in such a way that both outliers and noise are removed.
摘要翻译：本发明涉及一种用于减小具有定子，转子和电动机控制单元的无刷直流电动机（6）的转矩脉动的方法和装置，马达控制单元通过其以多相方式控制电动机，具有用于存储马达（6）的控制电流的与旋转角度相关的校正数据的数据存储器（1），其被施加在用于控制马达的瞬时值上。根据本发明，在第一步骤中，对于转子的每个位置，确定保持在该位置的转子的相电流并且用于导出存储在数据存储器（19）的表格中的参考电流数据，连同由位置传感器确定的转子的相应位置数据，并且在第二步骤中，在马达的连续操作期间，存储在数据存储器中的与位置相关的参考电流数据与控制电流发动机。在本发明的优选改进中，参考电流数据以这样的方式进行调节，使得异常值和噪声都被去除。

9. 发明授权

US11135715B2 Robot arm 有权
公开(公告)号：US11135715B2
公开(公告)日：2021-10-05
申请号：US15766942
申请日：2016-10-04
申请人： Kastanienbaum GmbH
发明人： Sami Haddadin
IPC分类号： G01L5/00 , B25J9/00 , G05B19/423 , B25J9/16 , B25J13/08 , G06F15/00 , C12Q1/6886
摘要： A robot arm permitting a more sensitive and precise operation in the offline programming of a robot having a robot arm with a number of arm components, which can be connected to a robot body via a number of actuator-drivable joint connections.

10. 发明授权

US10678210B2 Controlling and/or regulating motors of a robot 有权
公开(公告)号：US10678210B2
公开(公告)日：2020-06-09
申请号：US15568169
申请日：2016-04-22
申请人： Kastanienbaum GmbH
发明人： Sami Haddadin , Nico Mansfeld
IPC分类号： B25J9/16 , G05B19/4061
摘要： The invention relates to a method and device for controlling and regulating motors, MOTm, of a robot, with m=1, 2, . . . M, wherein the robot has robot components that are interconnected via a number, N, of articulated connections GELn, the joint angles of the articulated connections GELn can be adjusted by means of associated motors MOTm; Z(tk) is a state of the robot components in an interval, tk; and a first system of coupled motion equations BGG is predetermined and describes rigid-body dynamics or flexible-body dynamics of the connected robot components.

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