Abstract: A robot having a robot manipulator with an effector, wherein the robot manipulator is designed and constructed for picking up, handling, and releasing an object and is controlled by a control unit, the robot including a first sensor means designed and constructed to determine a persisting adherence of the object to an effector after a release of the object by the effector, and where such an adherence persists, to generate a signal S, wherein when a signal S is present, the control unit is designed and constructed to control the robot manipulator in such a manner that it executes a predefined movement B in which the effector with the persistently adhering object is passed by a wiping object in such a manner that the adhering object is wiped off the effector on a surface or an edge of the wiping object.

Abstract: The invention relates to a robot having a robot manipulator with an effector, wherein the robot manipulator is designed and constructed for picking up, handling, and releasing an object and is controlled/regulated in accordance with a control program by a control unit, including a first sensor means, which is designed and constructed to determine a persisting adherence of the object to the effector after a release of the object by the effector in accordance with a control program, and where such an adherence persists, to generate a signal S, wherein the control unit is designed and constructed to execute the following control program: where a signal S is present, control the robot manipulator in such a manner that it executes a predefined movement in which the effector with the persistently adhering object is passed by a wiping object in such a manner that the adhering object is wiped off on the surface of the wiping object

Abstract: The present invention relates to a robot system, a device, and a method for applying a process force (FP) to an object within the scope of a task to be performed by a robot in relation to the object, the robot system allowing an amplification of the input force (FEIN) input by a user with simultaneous feedback control, so as to thus enable a sensitive control of tasks.

Abstract: The invention relates to a torque sensor device with a measuring flange, which is designed to cooperate with a movable component for detecting torques occurring on this component, and which has a flange outer ring and a flange inner ring, the flange outer ring and the flange inner ring are connected by at least two measuring spokes, which are designed to deform under the effect of a torque, the measuring spokes being designed such that they can be decoupled with respect to a force acting in the radial direction onto said measuring spokes. Furthermore, the invention relates to a manipulator for a robot which has at least one drive unit in one of its joints, at which such a torque sensor device is implemented.

Abstract: The present invention relates to a drive unit for a joint being arranged between two arm members of a manipulator of a robotic system and for the rotatory drive of one arm member in relation to one other arm member, with a motor which drives a drive shaft, with an output element, which is connected with the one arm member and which is directly or indirectly set into rotation by means of the drive shaft, and with a circuit board, on which a sensor device for the drive as provided by the drive shaft and a sensor device for the output as provided by the output element are arranged.

Abstract: A method and arrangement for reducing the torque ripple of a brushless DC motor 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 for storing rotational angle-dependent correction data of the control current of the motor, which are impressed on the instantaneous values for controlling the motor. 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 together with the respective position data of the rotor, determined by the position sensor. 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.

Abstract: 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.