Abstract: The disclosure relates to a method for operating a robot, a data memory with a corresponding program code, the corresponding robot, and a corresponding robot system. Different coordinate system and their relationships to one another are used to position a tool in a target pose. A stationary reference coordinate system originating at a robot foot of the robot and a target coordinate system originating at the tool are specified. Herein, a z-axis of the target coordinate system corresponds to a specified axis of the tool. The orientations of an x-axis and a y-axis of the target coordinate system are calculated by a first cross product of the orientation of the specified axis and a direction vector, that is not parallel thereto, of coordinate axis of the reference coordinate system and by a second cross product of a result of the first cross product and the orientation of the specified axis.

Abstract: A method for operating a hand-guided robot having a jointed arm and an end effector is provided. As part of the method, a moment is measured at each joint while the robot is being hand-guided or subjected to a mechanical tension due to contact with an external object. Based on the measured moment, an external moment affecting the robot is determined. Then, a correction factor for a position of the end effector is computed based on the external moment and an absolute accurate model of the robot. Then, a current position of the end effector is computed based on a correction model in dependence on the correction factor. A corresponding storage medium, data processing device, robotic system, and tracking system are also provided.

Abstract: The disclosure relates to a method for operating a robot as well as to a correspondingly operated robotic system. As part of the method, it is determined, if a difference between a current position of the robot and a target position of the robot exceeds a predetermined threshold value while the robot is in a torque-regulated operating mode. If the difference exceeds the threshold value, a predicted model-based intermediate state that the robot reaches before the target position according to the model is determined, wherein a speed of the robot in the intermediate state is lower than a predetermined speed threshold. When the robot reaches the intermediate state, the robot is automatically switched from the torque-regulated operating mode to a position-regulated operating mode. The robot then moves into the target position in the position-regulated operating mode.

Abstract: A method is provided for controlling a robotic device, of which the end effector arranged on a kinematic chain interacts with an object, and including an ultrasound apparatus registered to the robotic device for movement capture of the object. Ultrasound image data of the object is captured. The relative movement of the object is determined on the basis of the ultrasound image data using a mathematical method. The absolute movement is determined through registration to a planning data set. Movements of the object are compensated for in the context of the interaction of the end effector of the robotic device with the object. Future movements of the object and a positioning of the end effector of the robotic device adapted thereto are predicted and the robotic device is controlled accordingly. In the calculation of the adapted positioning of the end effector of the robotic device, a temporal delay relative to the movement of the object is included.

Abstract: A method for changing or expanding application tasks of a manipulator via a first processor and a second processor and a system for guiding the movement of the manipulator, wherein the system includes a first processor for performing control tasks relating to guiding the movement, the control tasks being performable in real-time and being performable while complying with pre-definable, in particular certifiable, safety requirements, and includes at least one second processor for performing an application task formed from a path planning task and a task relating to processing user inputs, where the second processor can be adapted to perform at least one changed or further application task.

Abstract: A method for calibrating a medical imaging device in terms of an image acquisition geometry, a method for performing a two-dimensional-three-dimensional registration based on corresponding calibration data, and a corresponding system are provided. Multiple images of a phantom are acquired using the imaging device in different positions of the phantom. A corresponding motion of the phantom from one position to a respective next position is tracked by a tracking device to keep continuous track of a spatial relation between the phantom and the imaging device. The medical imaging device is then calibrated based on the acquired images, corresponding recorded poses of the imaging device, and the tracked motion of the phantom.

Abstract: A method for automatically ascertaining an input command for a robot, wherein the input command is entered by manually exerting an external force onto the robot. The input command is ascertained on the basis of the joint force component attempting to cause a movement of the robot in only one robot joint coordinate sub-space which is specific to the input command. The joint forces are imprinted with the external force.

Abstract: A method is provided for tracking a hand-guided robot including a control unit and at least one manipulator coupled to an end effector, in which the manipulator includes a plurality of joints and links and the end effector is manually displaceable within an operational volume. In the method, the control unit determines at least one movement information of each joint during and/or after a manual or partially manual displacement of the end effector, and a position and orientation information of the end effector inside the operational volume during and/or after the displacement of the end effector using the determined movement information of each joint and a software-based kinematic and dynamic model of the manipulator stored in a memory of the control unit.

Abstract: A method is provided for absolute position determination of the end effector of a robotic device with a kinematic chain of movable components. At least one current torque or one value corresponding to the torque is measured on at least one movable component of the kinematic chain of the robotic device by a torque sensor arranged on the movable component. At least one torque is calculated on the basis of model data of the robotic device for the movable component. A difference between the measured torque and the calculated torque is determined. If the difference exceeds a prespecified threshold value, the at least one measured torque is used instead of the calculated torque to determine an absolute position of the end effector of the robotic device.

Abstract: A method is disclosed for registration on setting an alignment of an instrument relative to an object during a processing or treatment of the object by the instrument. A working image is registered to a planning image. The working image is recorded in a viewing direction that is selected dependent upon relevant degrees of freedom of the instrument such that the relevant degrees of freedom are the degrees of freedom with the greater registration accuracy. In addition, a robot system is provided which is configured for carrying out the method.

Abstract: A packaging technique for applying an insulating pack to the housing of a battery cell. The insulating pack is formed from a self-adhesive cutout of insulating material by folding the cutout onto the sides of the housing that are to be covered. The packaging technique involves a packaging method for automatically applying an insulating pack, a battery cell including an insulating pack, a packaging station for carrying out the method, and a preparation device for preparing one or more cutouts of insulating material.

Abstract: A system and method are provided for controlling a robot for automatic positioning of a tool in a predetermined target pose. A six dimensional pose of a robot flange corresponding to the target pose is determined. An expanded kinematics of the robot is created by augmenting it with a virtual joint arranged in the tool. The virtual joint makes possible a restriction-free virtual rotation about a predetermined axis of the tool. From the six dimensional pose of the robot flange and the expanded kinematics, a path is determined by an automatic path planning module, in accordance with which the six dimensional pose of the robot flange may be moved to from an initial pose of the robot. Conflicts with a maximum physical scope of movement of the robot occurring during this process are resolved by a rotation of the virtual joint.

Abstract: The disclosure relates to a method for operating a robot, a data memory with a corresponding program code, the corresponding robot, and a corresponding robot system. Different coordinate system and their relationships to one another are used to position a tool in a target pose. A stationary reference coordinate system originating at a robot foot of the robot and a target coordinate system originating at the tool are specified. Herein, a z-axis of the target coordinate system corresponds to a specified axis of the tool. The orientations of an x-axis and a y-axis of the target coordinate system are calculated by a first cross product of the orientation of the specified axis and a direction vector, that is not parallel thereto, of coordinate axis of the reference coordinate system and by a second cross product of a result of the first cross product and the orientation of the specified axis.

Abstract: A method is disclosed for registration on setting an alignment of an instrument relative to an object during a processing or treatment of the object by the instrument. A working image is registered to a planning image. The working image is recorded in a viewing direction that is selected dependent upon relevant degrees of freedom of the instrument such that the relevant degrees of freedom are the degrees of freedom with the greater registration accuracy. In addition, a robot system is provided which is configured for carrying out the method.

Abstract: A method for calibrating a medical imaging device in terms of an image acquisition geometry, a method for performing a two-dimensional-three-dimensional registration based on corresponding calibration data, and a corresponding system are provided. Multiple images of a phantom are acquired using the imaging device in different positions of the phantom. A corresponding motion of the phantom from one position to a respective next position is tracked by a tracking device to keep continuous track of a spatial relation between the phantom and the imaging device. The medical imaging device is then calibrated based on the acquired images, corresponding recorded poses of the imaging device, and the tracked motion of the phantom.

Abstract: A method is provided for operating a robotic device having a kinematic chain of movable components. The method includes: detecting respective values at least one characteristic of a plurality of the movable components by sensors arranged on the kinematic chain or in the vicinity of the kinematic chain; ascertaining a maximum value based on the detected values; comparing the ascertained maximum value with a predefined first safety limit by a controller of the robotic device; and adjusting the at least one characteristic or a further characteristic of the kinematic chain when the ascertained maximum value has a predefined relationship with the first safety limit, in order to increase the operating safety of the robotic device.

Abstract: A method is provided for controlling a robotic device, of which the end effector arranged on a kinematic chain interacts with an object, and including an ultrasound apparatus registered to the robotic device for movement capture of the object. Ultrasound image data of the object is captured. The relative movement of the object is determined on the basis of the ultrasound image data using a mathematical method. The absolute movement is determined through registration to a planning data set. Movements of the object are compensated for in the context of the interaction of the end effector of the robotic device with the object. Future movements of the object and a positioning of the end effector of the robotic device adapted thereto are predicted and the robotic device is controlled accordingly. In the calculation of the adapted positioning of the end effector of the robotic device, a temporal delay relative to the movement of the object is included.

Abstract: A method is provided for tracking a hand-guided robot including a control unit and at least one manipulator coupled to an end effector, in which the manipulator includes a plurality of joints and links and the end effector is manually displaceable within an operational volume. In the method, the control unit determines at least one movement information of each joint during and/or after a manual or partially manual displacement of the end effector, and a position and orientation information of the end effector inside the operational volume during and/or after the displacement of the end effector using the determined movement information of each joint and a software-based kinematic and dynamic model of the manipulator stored in a memory of the control unit.

Abstract: A method for operating a hand-guided robot having a jointed arm and an end effector is provided. As part of the method, a moment is measured at each joint while the robot is being hand-guided or subjected to a mechanical tension due to contact with an external object. Based on the measured moment, an external moment affecting the robot is determined. Then, a correction factor for a position of the end effector is computed based on the external moment and an absolute accurate model of the robot. Then, a current position of the end effector is computed based on a correction model in dependence on the correction factor. A corresponding storage medium, data processing device, robotic system, and tracking system are also provided.

Abstract: A method is provided for absolute position determination of the end effector of a robotic device with a kinematic chain of movable components. At least one current torque or one value corresponding to the torque is measured on at least one movable component of the kinematic chain of the robotic device by a torque sensor arranged on the movable component. At least one torque is calculated on the basis of model data of the robotic device for the movable component. A difference between the measured torque and the calculated torque is determined. If the difference exceeds a prespecified threshold value, the at least one measured torque is used instead of the calculated torque to determine an absolute position of the end effector of the robotic device.