Abstract: An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.

Abstract: The invention relates to a shaft coupling. According to one embodiment, the shaft coupling comprises a first coupling part with a shaft and a conical shaft section. A tool (e.g. a grinding disc, a drill, etc.) can be fixed to a first end of the shaft, and a shaft collar is arranged on a second end of the shaft. The shaft coupling additionally comprises a second coupling part which has a conical hub into which the conical shaft section of the first coupling part can be introduced in order to form a tapered seat. The second coupling part additionally has a securing element which can be moved transversely to the rotational axis of the shaft coupling such that the securing element can engage with the shaft collar. At least one spring is arranged in the shaft coupling such that the spring generates a spring force which acts on the tapered seal in the axial direction when the securing element is engaged and biases said tapered seat.

Abstract: The invention relates to a device for training coordinative faculties. The device has at least one movable standing plate; at least one static base plate; at least two connecting elements, the height of which can be modified and which act between the at least one movable standing plate and the at least one static base plate, a user interface; and a control element. The device is designed to specify a sequence of various setpoint positions of the centre of gravity of a user standing on the at least one movable standing plate, each of the setpoint positions being specified for a determined duration, and to continuously measure the actual position of the centre of gravity of the person standing on the moving plate.

Abstract: The invention relates to an extraction device for a robot-assisted machine tool for surface processing. According to an exemplary embodiment, the extraction device comprises a housing with a vacuum nozzle and an outlet for connection of a hose. The extraction device also has a suspension that connects the housing to a mounting plate and is mounted on the mounting plate so as to be pivotable about an axis. A counterweight is connected to the suspension such that the counterweight substantially balances out the weight of the housing relative to the axis.

Abstract: A roller hemming apparatus for robot-supported roller hemming with a manipulator, as well as with a roller hemming apparatus, is described. The apparatus includes a frame, a first roller and a second roller which, when in operation, contact two opposite sides of a workpiece, and at least one first actuator mechanically coupled to the frame and to at least one of the first and the second rollers and controlled so that opposing process forces that are applied over the first and the second rollers and that lie approximately along one effective line of force are applied to the workpiece at opposite sides.

Abstract: An apparatus includes a manipulator, a pneumatic actuator and a robot control. The pneumatic actuator is coupled to the manipulator such that the pneumatic actuator is arranged between the manipulator and an object to be positioned. The robot control is configured: to control the pneumatic actuator such that an actuator force of the pneumatic actuator approximately compensates a weight force of the object; and to monitor the actuator position of the pneumatic actuator and initiate safety measures when the actuator position exceeds a predefined value. Methods of operating the manipulator and the pneumatic actuator are also described.

Abstract: An artificial finger for prosthetics and gripping technology, with a base, a first finger member mounted on the base in articulated manner, at least one secondary member mounted on the first finger member in articulated manner, and a drive for adjusting the secondary member relative to the first finger member and the first finger member relative to the base. At least one reset element is provided for resetting the first finger member and the secondary member, and the first finger member is acted upon with a resetting force which differs from the secondary member.

Abstract: The invention relates to a machine tool for robot-assisted surface finishing. According to one embodiment, the machine tool comprises a first support plate and a second support plate. The first support plate is designed for mounting on a manipulator. An output shaft for receiving a rotatable tool is mounted on the second support plate. The machine tool additionally comprises a linear actuator that acts between the first support plate and the second support plate, as well as a motor which is mounted on the first support plate. The machine tool additionally comprises a telescopic shaft with a first shaft portion and a second shaft portion that can be displaced relative to said first shaft portion. The first shaft portion is coupled to a motor shaft of the motor, and the second shaft portion as mounted on the second support plate. The telescopic shaft is coupled to the output shaft by means of a gear mechanism.

Abstract: The invention relates to a device for automatically dressing an abrasive disk from a robot-supported grinding device having a grinding machine. According to one embodiment, the device comprises a frame, a separating plate connected to the frame, and a support surface connected to the frame. The separating plate and the support surface are coupled to the frame in such a way that a relative movement is ensured along a first direction between the separating plate and the support surface. The separating plate and the support surface are arranged in such a manner that—when the abrasive disk rests on the support surface and when the separating plate and the abrasive disk move towards each other—a first edge of the separating plate is pushed over the abrasive disk. The invention further relates to a device for automatically fitting a grinding machine of a robot-supported grinding device with an abrasive disk.

Abstract: Described is an apparatus for robot-aided grinding, comprising the following: a manipulator, a linear actuator, and a grinding machine which includes a rotating grinding tool and is connected to the manipulator via the linear actuator. The apparatus further comprises a protective cover that partially surrounds the rotating grinding tool, the rotating grinding tool protruding from the protective cover at least on a first side. An adjusting mechanism is provided which connects the protective cover to the grinding machine and is designed to adjust the position of the protective cover in relation to the grinding machine.

Abstract: An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.

Abstract: The invention relates to a device for training coordinative faculties. The device has at least one movable standing plate; at least one static base plate; at least two connecting elements, the height of which can be modified and which act between the at least one movable standing plate and the at least one static base plate, a user interface; and a control element. The device is designed to specify a sequence of various setpoint positions of the centre of gravity of a user standing on the at least one movable standing plate, each of the setpoint positions being specified for a determined duration, and to continuously measure the actual position of the centre of gravity of the person standing on the moving plate.

Abstract: An apparatus includes a manipulator, a pneumatic actuator and a robot control. The pneumatic actuator is coupled to the manipulator such that the pneumatic actuator is arranged between the manipulator and an object to be positioned. The robot control is configured: to control the pneumatic actuator such that an actuator force of the pneumatic actuator approximately compensates a weight force of the object; and to monitor the actuator position of the pneumatic actuator and initiate safety measures when the actuator position exceeds a predefined value. Methods of operating the manipulator and the pneumatic actuator are also described.

Abstract: A robot includes a yielding element for mechanically coupling first and second arm segments of a robot arm. A motor moves the second arm segment relative to the first arm segment. A sensor determines a relative position of the first arm segment in relation to the second arm segment and outputs a position sensor signal representing the relative position. A control unit controls the motor in accordance with the position sensor signal such that the first arm segment is moved into a desired relative position in relation to the second arm segment, when no external force is applied to the robot arm, and when an external force is applied to the robot arm, the motor generates a counterforce which depends on the deviation between the actual and desired positions. The control unit has a predetermined time constant so that changes in the external force are substantially absorbed by damping elements.

Abstract: An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.

Abstract: The invention relates to a device (100) for machining a surface of a workpiece (200a). According to one embodiment, the device (100) comprises a frame (160) and a roller carrier (401), on which a first roller (101) is rotatably supported and which is supported on the frame (160) in such a way that the roller carrier can be moved in a first direction (x). The device (100) comprises at least a second roller (103), which is supported on the frame (160), and a belt (102), which is guided at least around the two rollers (101, 103) and because of the tension of which a resulting belt force (102) acts on the roller carrier (401). The device (100) also comprises an actuator (302), which is mechanically coupled to the frame (160) and the roller carrier (401) in such a way that an adjustable actuator force (FA) acts between the frame (160) and the first roller (101) in the first direction (x).

Abstract: A device for training coordinative faculties has at least one movable standing plate; at least one static base plate; at least two connecting elements, the height of which can be modified and which act between the at least one movable standing plate and the at least one static base plate, a user interface; and a control element. The device is designed to specify a sequence of various setpoint positions of the center of gravity of a user standing on the at least one movable standing plate, each of the setpoint positions being specified for a determined duration, and to continuously measure the actual position of the center of gravity of the person standing on the moving plate.

Abstract: The invention relates to a method for positioning, in particular for palletizing, objects. The method is carried out using a manipulator having an additional actuator which is arranged between the manipulator and the object to be positioned. According to one example of the invention, the method comprises the gripping of the object and the moving of the object, using the manipulator, at a start position in the proximity of a storage surface on which the object is to be positioned and deposited. The method furthermore comprises the moving of the object using the manipulator to the storage surface, wherein the actuator is actuated such that the actuating force compensates for the weight of the object, or wherein the actuator force is regulated such that an adjustable, minimal net actuator force acts on an end stop of the actuator (which can be zero in the limiting case). Furthermore, the excursion of the actuator is monitored and a change to the excursion is detected.

Abstract: A robot-supported grinding method is described. In accordance with one example of the invention, the grinding method includes contacting a surface of a workpiece with a rotating grinding tool, whereby either the grinding tool or the workpiece is mechanically coupled to the tool center point (TCP) of a manipulator. The method further includes controlling an actuator that influences the grinding tool or the workpiece to produce a grinding force between the grinding tool and the workpiece, as well as measuring an actual deflection of the actuator. The rotational velocity of the grinding tool is adjusted depending on the measured actual deflection of the actuator and a reference deflection of the actuator.

Abstract: A robot includes a yielding element for mechanically coupling first and second arm segments of a robot arm. A motor moves the second arm segment relative to the first arm segment. A sensor determines a relative position of the first arm segment in relation to the second arm segment and outputs a position sensor signal representing the relative position. A control unit controls the motor in accordance with the position sensor signal such that the first arm segment is moved into a desired relative position in relation to the second arm segment, when no external force is applied to the robot arm, and when an external force is applied to the robot arm, the motor generates a counterforce which depends on the deviation between the actual and desired positions. The control unit has a predetermined time constant so that changes in the external force are substantially absorbed by damping elements.