Abstract: In a method for allowing an end effector of a robotic manipulator to travel along a predetermined path or trajectory, wherein the manipulator has a null space with respect to the predetermined trajectory with at least two manipulator positions associated with the same end effector position, a placement of the manipulator in null space is detected and, in a processor, a process variable of the end effector is automatically modified according to the detected placement.

Abstract: The invention relates to a sterile barrier (S) for a surgical robot (1) comprising at least one joint (12 . . . 15) with two opposing joint members (40, 42) that rotate relative to one another about a common joint axis (16 . . . 19) and a torque sensor (29) comprising: at least two sterile barrier sections (24 . . . 28) each with an end section (38, 39) for sealed attachment to a respective joint end section (41, 43) of the joint member (40, 42); and a sealing arrangement (30) for producing a sterile and sealed rotating connection of the end sections (38, 39) of the at least two sterile barrier sections (24 . . . 28); and a surgical robot (1).

Abstract: The invention relates to an industrial robot having a robotic arm. The robotic arm has several axes (A1-A6) and at least one electric drive, which comprises an electric motor (7-12) and power electronics (16) actuating the electric motor (7-12) and is equipped to move the relevant axis (A1-A6). The industrial robot (1) is equipped to short-circuit the electric motor (7-12) in the event of emergency braking simultaneously by means of two independent electric current paths.

Abstract: For operating two operating systems of a computer without performance loss, the invention proposes a method in which a secondary operating system driver (SOS driver) of the primary operating system is loaded for loading and controlling the secondary operating system and which subsequently loads the secondary operating system. The invention also provides a device with a corresponding secondary operating system driver (SOS driver) of the primary operating system for driving a board support package.

Abstract: An electrical device having a clocked circuitry, and a method for testing the power supply unit of the electrical device. The electrical device comprises an electrical load, a clocked power supply unit, at least one pulse transformer and an evaluation device. The power supply unit comprises a power stack having at least one power semiconductor switch and is configured for generating a clocked voltage for the electrical load from an electric voltage based on an alternating on/off switching of the power semiconductor switch. The power stack exhibits at least one current path, through which an electric current flows during operation. The pulse transformer generates a signal assigned to the change in the charge and/or the direction of the electric current flowing through the current path. The evaluation device evaluates the signal coming from the pulse transformer and draws a conclusion regarding the operational reliability of the power semiconductor switch.

Abstract: The present invention relates to a multi-directionally movable vehicle (10, 20) and to a method for operating the multi-directionally movable vehicle (10, 20). The vehicle (10, 20) has a vehicle body (11, 12), a plurality of multi-directionally movable wheels (13) which are rotatably arranged on the vehicle body (11, 12) and have the purpose of moving the vehicle (10), and a plurality of lighting devices (14, 15) which are each assigned to one of the wheels (13) and which can be activated as a function of the selected or intended direction of travel of the vehicle (10) in order to indicate visually to the outside the direction of travel of the vehicle (10) by means of one or more activated lighting devices (14, 15).

Abstract: In order to increase the safety of a robot that may come into contact with other robots, objects or humans, the invention provides that said robot comprises at least two joints and parts that are moveable in relation to each other via at least one joint. At least one sensor (31) is arranged on at least one moveable part (3, 4, 5?, 6, 7), detecting torque. Sensor components (21?, 22.1, 22.2) of the sensor (31) are designed for the redundant detection of a torque, or for the redundant detection of a torque of at least two sensors (31) are provided, and redundant evaluation units are provided for the redundant evaluation. In order to increase safety, the invention further provides a method for monitoring torque on a robot of said kind, wherein at least a torque on at least one movable part (3, 4, 5?, 6, 7) is redundantly detected and redundantly evaluated on at least one moveable part (3, 4, 5?, 6, 7) by means of two sensor components of a sensor (31) or by means of two sensors (31).

Abstract: The invention relates to a medical workstation and an operating device (1) for the manual movement of a robot arm (M1-M3). The operating device (1) comprises a controller (5) and at least one manual mechanical input device (E1-E3) coupled to the controller (5). The controller (5) is designed to generate signals for controlling a movement of at least one robot arm (M1-M3) provided for treating a living being (P) based on a manual movement of the input device (E1-E3) such that the robot arm (M1-M3) carries out a movement corresponding to the manual movement. The input device (E1, E2) comprises at least one mechanical damping unit (27, 40), which generates a force and/or torque during a manual movement of the input device (E1, E2) for at least partially suppressing a partial movement resulting from a tremor of the person operating the input device (E1, E2).

Abstract: A method to move a person with an automated manipulator, in particular a robot, includes moving a rider receptacle for a person with the manipulator, and determining an acceleration variable of this movement before and/or during the execution of this movement and comparing the acceleration variable with a predetermined acceleration variable and/or adapting the movement to a predetermined acceleration variable in the event that the determined acceleration variable deviates from the predetermined acceleration variable, and/or a predetermined acceleration variable is used that includes different permissible acceleration durations that are respectively associated with a permissible acceleration value.

Abstract: In a method for controlling a manipulator, in particular a robot, a reference path is stored and reference increments are automatically determined while following the path the reference increments are determined based on the dynamics of the manipulator while following the path.

Abstract: A manipulator for an industrial robot includes a plurality of actuators associated with a plurality of motion axes. An axis sensor is associated with each of the plurality of motion axes. Each axis sensor is configured to determine a single axis value for the corresponding axis of the plurality of motion axes. A redundant sensor arrangement is configured to ascertain an overall manipulator value. A control is configured to balance the overall manipulator value and the single axis values acquired by the axis sensors. A method of controlling the manipulator is also provided. Axis values are acquired by the axis sensors associated with each of the plurality of motion axes. A redundant manipulator value is acquired by the redundant sensor arrangement. The redundant manipulator value and the axis values acquired by the axis sensors are balanced, and a signal corresponding to the result of the balancing is output.

Abstract: The The invention relates to a method for determining possible positions of a robot arm of a robot. The robot arm comprises a frame, numerous links, disposed successively, which can move in relation to one another, with respect to axes. First, a target position and target orientation in space for a robot arm or a tool center point assigned to an end effector attached to the robot arm, are defined, to which a reference coordinate system having polar coordinates is assigned. Subsequently, potential possible positions of the frame of the robot arm in space and in the polar coordinates of the reference coordinate system are determined on the basis of the geometry of the robot arm, such that the tool center point can assume the defined target position and target orientation.

Abstract: A method for stopping a manipulator includes the steps of advance simulation of stopping distances for different states and/or braking force profiles of the manipulator, estimating of an upper limit as the stopping distance on the basis of the stopping distances simulated in advance, monitoring a zone, and decelerating the manipulator when a zone is violated, wherein the monitored zone is defined variably during operation on the basis of the stopping distance of the manipulator.

Abstract: The invention relates to a method for determining a position for and positioning a detection device (E) of a navigation system. First, a computer simulation of a system is done that comprises a robot (R) which has first markers (M1) of a navigation system or first prominent points, a three-dimensional object (P) which has second markers (M2) of the navigation system or second prominent points, and a detection device (E) of the navigation system. Various positions of the robot (R), the object (P), and/or the detection device (E) are simulated, and the quality of the detectability of the first markers (M1) or the first prominent points on the robot (R) and/or the second markers (M2) or the second prominent points on the object (P) are automatically determined for the simulated positions by means of the detection device (E). The determined qualities and the corresponding simulated positions and/or the simulated position having the highest or at least a sufficiently high determined quality is/are output.

Abstract: The invention relates to an X-ray device (2) for a medical workplace (1, 21). The X-ray device (2) comprises a robot (R) with a plurality of axes (9), a control device (10) for controlling the axes (9) for movement of the robot (R), and a fastening device (8), and a support device (11) disposed at the fastening device (8), said support device comprising an X-ray radiation source (12) and an X-ray radiation receiver (14). A 3D model (15, 15a) of the robot (R) and the support device (11) provided is stored in the control device (10), said 3D model modeling the spatial extension of the robot (R) and the support device (11) during movement of the robot (R). The 3D model (15,15a) also models the spatial extension of at least one other device (3, 4, R2) of the medical workplace (1, 21) and/or of a living organism (5) located within the medical workplace (1, 21).

Abstract: In a method and device for monitoring a movement-controlled machine, such as a manipulator, having an electronically commutated drive motor for which a commutation angle is provided based on its detected real position and a control variable, in particular a predetermined desired position, a limit value is determined for a rate of change in particular a time derivative of the real position of the drive motor, and the commutation angle is predetermined such that the rate of change of the commutation angle does not exceed a limit value.

Abstract: In a method, device and in a non-transitory computer-readable storage medium for computer-assisted generation of a manipulator path of a computer-controlled manipulator, a processor is loaded with a virtual tool and generates a virtual tool path based in a virtual component and the loaded virtual tool. The processor is also loaded with a virtual manipulator kinematic and generates a virtual manipulator path based on the virtual tool path and the virtual manipulator kinematic.

Abstract: The invention relates to an X-ray apparatus and a medical workstation. The X-ray apparatus has a first robot (R1) and a second robot (R2). The first robot (R1) has a plurality of first axles, a first securing device and a first control device (17) designed to actuate the first axles of the first robot (R1) for a movement of the first securing device. The second robot (R2) has a plurality of second axles, a second securing device and a second control device (37) designed to actuate the second axles of the second robot (R2) for a movement of the second securing device. An X-ray source (RQ) is arranged on one of the two securing devices, and an X-ray receiver (RE) is arranged on the other securing device.

Abstract: In a method according to the invention to determine the relative position (?) of a resolver, an exciter winding is excited with a reference signal, a first signal resulting from the reference signal in a first winding is sampled and a second signal resulting from the reference signal in a second winding is sampled, an uncompensated Fourier coefficient for the first signal is determined and an uncompensated Fourier coefficient for the second signal is determined. A compensated Fourier coefficient for the first signal and a compensated Fourier coefficient for the second signal is determined and the relative position of the resolver is determined from the compensated Fourier coefficients. The compensated Fourier coefficients essentially compensate the change of the uncompensated Fourier coefficients due to the phase shift of the resolver and/or the change of the relative position during the sampling.