Register information Patent

WO file number: PCT/EP2020/068778 (Status: not pending/lapsed, Query started: June 6, 2025)

Please note: This English version is a non-binding translation of the German register excerpt. Only the German version of the register excerpt is legally binding.

Master data
INIDCriterionFieldContent
Type of IP rightSARTPatent
StatusSTNot pending/lapsed
86WO file numberWAKZPCT/EP2020/068778
87WO publication numberWPN2021004917
54Designation/titleTIVORGEBEN UND ANWENDEN EINES GEWÜNSCHTEN KONTAKTMOMENTS EINES ROBOTERMANIPULATORS
51IPC main classICM
(ICMV)		 B25J 9/22 (2006.01)
51IPC secondary class(es)ICS
(ICSV)		 B25J 9/16 (2006.01), B25J 9/00 (2006.01), G05B 19/42 (2006.01)
86WO application dateWATJul 3, 2020
72InventorINInventor not yet named
66
66
Domestic priorityPRN
PRD
10 2019 118 261.1
Jul 5, 2019
Patent division in charge 13
87WO language of publicationWLANGDE - Deutsch
57AbstractABDie Erfindung betrifft ein Verfahren zum Vergeben einer gewünschten Kontaktkraft oder eines gewünschten Kontaktmoments eines Robotermanipulators (1) und zum entsprechenden Ansteuern des Robotermanipulators (1), aufweisend die Schritte: - Ansteuern von Aktuatoren (3) so, dass der Robotermanipulator (1) einer von einem Anwender erzeugten Auslenkung eine auslenkungsabhängige Widerstandskraft oder ein auslenkungsabhängiges Widerstandsmoment entgegensetzt, - Ermitteln einer so aufgebrachten Kraft oder Moments, während der Robotermanipulator (1) frei im Raum bewegbar ist, - Abspeichern der ermittelten Kraft oder Moments, - Bewegen des Robotermanipulators (1) zu einem Objekt der Umgebung des Robotermanipulators (1), und - Ansteuern der Aktuatoren (3) so, dass der Robotermanipulator (1) die gespeicherte Kraft oder das gespeicherte Moment auf das Objekt als Kontaktkraft oder als Kontaktmoment überträgt.
81Designated WO countriesWDSAE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, IT, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, WS, ZA, ZM, ZW
Published EP/WO documentsEPWOPNOriginal document: WO2021004917A1
Searchable text: WO2021004917A1
43Date of first publicationEVTJan 14, 2021
Date of the first transfer into DPMAregisterEREGTJan 15, 2021
Date of the (most recent) update in DPMAregisterREGTFeb 4, 2022
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  • Feb 4, 2022
    • Historical data not available for this/these date(s)
  • Jan 15, 2021
    • Date of the first transfer into DPMAregister
Procedural data
No.Kind of procedureLegal statusDate of legal/procedural statusPublication dateAlle Details anzeigen
1 Pre-registration procedure The application is under preliminary examination Jul 3, 2020  Details anzeigen
2 Search procedure Request for search effectively filed Jul 3, 2020  Details anzeigen
3 Procedure relating to PCT application WO first publication with search report Jan 14, 2021  Details anzeigen
4 Procedure relating to PCT application Ceased to have effect for DE Jan 6, 2022  Details anzeigen
View procedures Pre-registration procedure (No.: 1)
INIDCriterionFieldContent Close details
Type of procedureVARTPre-registration procedure
Legal/procedural statusVSTThe application is under preliminary examination
Date of legal/procedural statusVSTTJul 3, 2020
Date of update of the procedureREGTJan 15, 2021
View procedures Search procedure (No.: 2)
INIDCriterionFieldContent Close details
Type of procedureVARTSearch procedure
Legal/procedural statusVSTRequest for search effectively filed
Date of legal/procedural statusVSTTJul 3, 2020
Third party request No
Date of receiptAEGTJul 3, 2020
Date of update of the procedureREGTJan 15, 2021
View procedures Procedure relating to PCT application (No.: 3)
INIDCriterionFieldContent Close details
Type of procedureVARTProcedure relating to PCT application
Legal/procedural statusVSTWO first publication with search report
Date of legal/procedural statusVSTTJan 14, 2021
Date of update of the procedureREGTJan 15, 2021
View procedures Procedure relating to PCT application (No.: 4)
INIDCriterionFieldContent Close details
Type of procedureVARTProcedure relating to PCT application
Legal/procedural statusVSTCeased to have effect for DE
Date of legal/procedural statusVSTTJan 6, 2022
Date of update of the procedureREGTFeb 4, 2022