Patents by Inventor Gerhard Hietmann
Gerhard Hietmann has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 10095216Abstract: A method for actuating a manipulator system by means of a portable end device, a corresponding portable end device, and a robot system. The portable end device includes a 3-D camera that is a plenoptic camera. A three-dimensional image is acquired by means of the 3-D camera of the portable end device of at least part the manipulator system to be actuated. The image identifies at least one actuatable object in the manipulator system. A task is selected for the identified object to actuate. By selecting the identified actuatable object, the object is actuated to perform the task.Type: GrantFiled: May 23, 2016Date of Patent: October 9, 2018Assignee: KUKA Roboter GmbHInventor: Gerhard Hietmann
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Patent number: 10016894Abstract: A method for controlling a robot in at least one pose of the robot wherein the robot can be operated in either a first mode of operation or a second mode of operation. In the second mode of operation the robot can be moved by manually applying a guiding force to the robot. The method includes determining a distance of a state variable of the robot from a first limit and then triggering a safety response when the distance satisfies a first condition and the robot is operating in the first mode of operation. When the robot is operating in the second mode of operation and the distance satisfies the first condition, the method includes not triggering the safety response, and motorically applying a positioning force to the robot in dependence on the determined distance so that the distance can be reduced when the robot is unobstructed.Type: GrantFiled: July 17, 2015Date of Patent: July 10, 2018Assignee: KUKA Deutschland GmbHInventors: Gerhard Hietmann, Marc-Walter Ueberle, Christian Hartmann, Richard Schwarz, Richard Rudolf
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Patent number: 10007837Abstract: A method for identifying a manipulator by means of a portable terminal device, wherein the portable terminal device comprises a 3D camera. The method operates to detect a three-dimensional image of at least one part of the manipulator to be identified by means of the 3D camera of the portable terminal device. An actual status of the manipulator is determined based on the three-dimensional image detected. The 3D camera is a plenoptic camera, and the detected three-dimensional image comprises a four-dimensional light field of at least one part of the manipulator to be identified.Type: GrantFiled: May 24, 2016Date of Patent: June 26, 2018Assignee: KUKA Roboter GmbHInventor: Gerhard Hietmann
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Patent number: 9815200Abstract: A method for controlling a multiaxial jointed-arm robot. A plurality of reference data sets are recorded during a previous monitored reference travel. During an operational travel, a trajectory progress variable is established and is used to monitor the movement of the manipulator on the basis of the reference data sets.Type: GrantFiled: December 4, 2015Date of Patent: November 14, 2017Assignee: KUKA Roboter GmbHInventors: Uwe Zimmermann, Gerhard Hietmann
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Patent number: 9579792Abstract: Methods and apparatus for adjusting and controlling a robotic manipulator based on a dynamic manipulator model. A model for gear mechanism friction torque is determined for at least one axis, based on driven axis speeds and accelerations, and on a motor temperature on the drive side of one of the motors that is associated with the axis. The model is used to determine target values, such as motor position or current. The gear mechanism friction torque that complies with the model is determined in accordance with a gear mechanism temperature.Type: GrantFiled: November 16, 2005Date of Patent: February 28, 2017Assignee: KUKA Roboter GmbHInventors: Gerhard Hietmann, Martin Weiss
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Publication number: 20160346936Abstract: A method for actuating a manipulator system by means of a portable end device, a corresponding portable end device, and a robot system. The portable end device includes a 3-D camera that is a plenoptic camera. A three-dimensional image is acquired by means of the 3-D camera of the portable end device of at least part the manipulator system to be actuated. The image identifies at least one actuatable object in the manipulator system. A task is selected for the identified object to actuate. By selecting the identified actuatable object, the object is actuated to perform the task.Type: ApplicationFiled: May 23, 2016Publication date: December 1, 2016Inventor: Gerhard HIETMANN
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Publication number: 20160346927Abstract: A method for identifying a manipulator by means of a portable terminal device, wherein the portable terminal device comprises a 3D camera. The method operates to detect a three-dimensional image of at least one part of the manipulator to be identified by means of the 3D camera of the portable terminal device. An actual status of the manipulator is determined based on the three-dimensional image detected. The 3D camera is a plenoptic camera, and the detected three-dimensional image comprises a four-dimensional light field of at least one part of the manipulator to be identified.Type: ApplicationFiled: May 24, 2016Publication date: December 1, 2016Inventor: Gerhard HIETMANN
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Patent number: 9393687Abstract: A method for programming an industrial robot includes moving a manipulator arm of the industrial robot manually (hand guided) into at least one pose in which at least one control variable, which is to be entered in a robot program, is recorded by a control device of the industrial robot and is saved as a parameter of an associated program instruction in the robot program. In another aspect, an industrial robot includes a robot control unit which is designed and/or configured to carry out such a method.Type: GrantFiled: February 6, 2015Date of Patent: July 19, 2016Assignee: KUKA Roboter GmbHInventors: Gerhard Hietmann, Philipp Wullner
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Publication number: 20160176048Abstract: A method for controlling a multiaxial jointed-arm robot. A plurality of reference data sets are recorded during a previous monitored reference travel.Type: ApplicationFiled: December 4, 2015Publication date: June 23, 2016Inventors: Uwe Zimmermann, Gerhard Hietmann
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Publication number: 20160016314Abstract: A method for controlling a robot in at least one pose of the robot wherein the robot can be operated in either a first mode of operation or a second mode of operation. In the second mode of operation the robot can be moved by manually applying a guiding force to the robot. The method includes determining a distance of a state variable of the robot from a first limit and then triggering a safety response when the distance satisfies a first condition and the robot is operating in the first mode of operation. When the robot is operating in the second mode of operation and the distance satisfies the first condition, the method includes not triggering the safety response, and motorically applying a positioning force to the robot in dependence on the determined distance so that the distance can be reduced when the robot is unobstructed.Type: ApplicationFiled: July 17, 2015Publication date: January 21, 2016Inventors: Gerhard Hietmann, Marc-Walter Ueberle, Christian Hartmann, Richard Schwarz, Richard Rudolf
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Patent number: 9102061Abstract: A process module library according to the invention for programming a manipulator process, in particular an assembly process, comprises a plurality of parametrisable process modules (“search( )”, “peg_in_hole( )”, “gear( )”, “screw( )”) for carrying out a sub-process which in particular is common to different manipulator processes. Each of the process modules comprises a plurality of basic commands of a common set of basic commands for carrying out a basic operation, in particular an atomic or molecular operation, and a process module can be linked, in particular mathematically, to a further process module and/or a basic command. During programming, a manipulator can be controlled by means of a functional module of a graphic programming environment (100).Type: GrantFiled: February 25, 2011Date of Patent: August 11, 2015Assignee: KUKA Roboter GmbHInventors: Volker Schmirgel, Gerhard Hietmann, Sebastian Reitelshofer, Simon Klumpp, Johannes Kurth
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Publication number: 20150217445Abstract: A method for programming an industrial robot includes moving a manipulator arm of the industrial robot manually (hand guided) into at least one pose in which at least one control variable, which is to be entered in a robot program, is recorded by a control device of the industrial robot and is saved as a parameter of an associated program instruction in the robot program. In another aspect, an industrial robot includes a robot control unit which is designed and/or configured to carry out such a method.Type: ApplicationFiled: February 6, 2015Publication date: August 6, 2015Inventors: Gerhard Hietmann, Philipp Wullner
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Patent number: 8645098Abstract: According to the present invention a portable hand-held device (1) for detecting the spatial position of a working point of a manipulator, in particular of a robot, comprises handling means (2, 3) for handling the hand-held device by a user, means for detecting a position (4), wherein a spatial position of the means for detecting a position (4) is detectable; and a tactile element (5) which is connected, preferably detachably connected, to the means for detecting a position and at which a reference point (R) is defined, wherein the handling means (2, 3) and the means for detecting a position (4) are connected with one another by a joint.Type: GrantFiled: December 17, 2009Date of Patent: February 4, 2014Assignee: Kuka Roboter GmbHInventors: Gerhard Hietmann, Andreas Sedlmayr
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Publication number: 20120317535Abstract: A process module library according to the invention for programming a manipulator process, in particular an assembly process, comprises a plurality of parametrisable process modules (“search( )”, “peg_in_hole( )”, “gear( )”, “screw( )”) for carrying out a sub-process which in particular is common to different manipulator processes. Each of the process modules comprises a plurality of basic commands of a common set of basic commands for carrying out a basic operation, in particular an atomic or molecular operation, and a process module can be linked, in particular mathematically, to a further process module and/or a basic command. During programming, a manipulator can be controlled by means of a functional module of a graphic programming environment (100).Type: ApplicationFiled: February 25, 2011Publication date: December 13, 2012Applicant: KUKA LABORATORIES GMBHInventors: Volker Schmirgel, Gerhard Hietmann, Sebastian Reitelshofer, Simon Klumpp, Johannes Kurth
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Publication number: 20100153061Abstract: According to the present invention a portable hand-held device (1) for detecting the spatial position of a working point of a manipulator, in particular of a robot, comprises handling means (2, 3) for handling the hand-held device by a user, means for detecting a position (4), wherein a spatial position of the means for detecting a position (4) is detectable; and a tactile element (5) which is connected, preferably detachably connected, to the means for detecting a position and at which a reference point (R) is defined, wherein the handling means (2, 3) and the means for detecting a position (4) are connected with one another by a joint.Type: ApplicationFiled: December 17, 2009Publication date: June 17, 2010Inventors: Gerhard Hietmann, Andreas Sedlmayr
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Patent number: 7525274Abstract: A method and a system for controlling a plurality of manipulators with a large number of control units associated with the manipulators in such a way that each control unit controls at least one manipulator, are characterized in that an operating device accesses several control units for controlling the manipulators. Thus, it is possible according to the invention to operate even very closely juxtaposed manipulators without any crossing and interlacing of the connecting channels between the operating devices and control units which would prevent a reliable association in operation. The invention also makes it possible for only one operator to operate cooperating robots.Type: GrantFiled: March 25, 2004Date of Patent: April 28, 2009Assignee: KUKA Roboter GmbHInventors: Arif Kazi, Jens Bunsendal, Gerhard Hietmann, Carsten Spieβ
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Publication number: 20090076653Abstract: The invention relates to a method for adjusting and controlling an automatically controlled manipulator, for example a robot. This is often achieved with the aid of dynamic manipulator models, taking into account friction torques, which occur in gear mechanisms that are provided to displace axes of the manipulator. A model for the gear mechanism friction torque is determined for at least one axis, based on driven axis speeds and axis accelerations, in addition to a motor temperature on the drive side of one of the motors that is associated with the relevant axis, said model also being used to determine target values, such as a motor position or a motor current. The inventive method is characterised in that the gear mechanism friction torque that complies with the model is determined in accordance with a gear mechanism temperature.Type: ApplicationFiled: November 16, 2005Publication date: March 19, 2009Applicant: KUKA ROBOTER GMBHInventors: Gerhard Hietmann, Martin Weiss
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Patent number: 7443124Abstract: In order to improve the safety of a machine, particularly a robot, such as a multiaxial or multiaxle industrial robot during the operation thereof, particularly in the presence of human beings, the invention provides a method for operating the machine, which is characterized in that at least one path section is traversed in monitored manner in a reference trip, that movement-characteristic operating values are continuously measured and stored as reference values and that during machine operation said operating values are also determined and compared with the stored reference values. The invention also relates to a device for performing the method.Type: GrantFiled: May 23, 2005Date of Patent: October 28, 2008Assignee: KUKA Roboter GmbHInventors: Rainer Bischoff, Jens Bunsendal, Gerhard Hietmann
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Publication number: 20050273200Abstract: A process for protecting at least two robots is provided, especially multiaxial industrial robots, from collisions, in which movements of a robot are automatically checked for possible collisions. Interlocks are automatically inserted in the movement process.Type: ApplicationFiled: June 7, 2005Publication date: December 8, 2005Inventors: Gerhard Hietmann, Martin Weiss
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Publication number: 20050264251Abstract: In order to improve the safety of a machine, particularly a robot, such as a multiaxial or multiaxle industrial robot during the operation thereof, particularly in the presence of human beings, the invention provides a method for operating the machine, which is characterized in that at least one path section is traversed in monitored manner in a reference trip, that movement-characteristic operating values are continuously measured and stored as reference values and that during machine operation said operating values are also determined and compared with the stored reference values. The invention also relates to a device for performing the method.Type: ApplicationFiled: May 23, 2005Publication date: December 1, 2005Inventors: Rainer Bischoff, Jens Bunsendal, Gerhard Hietmann