Register information Patent

WO file number: PCT/EP2020/070913 (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
INID	Criterion	Field	Content
	Type of IP right	SART	Patent
	Status	ST	Not pending/lapsed
86	WO file number	WAKZ	PCT/EP2020/070913
87	WO publication number	WPN	2021013975
54	Designation/title	TI	VERIFIKATION EINES MASSEMODELLS EINES ROBOTERMANIPULATORS
51	IPC main class	ICM (ICMV)	B25J 9/16 (2006.01)
86	WO application date	WAT	Jul 24, 2020
72	Inventor	IN	Inventor not yet named
66 66	Domestic priority	PRN PRD	10 2019 120 157.8 Jul 25, 2019
	Patent division in charge		13
87	WO language of publication	WLANG	DE - Deutsch
57	Abstract	AB	Die Erfindung betrifft ein Verfahren zum Verifizieren eines Massemodells eines Robotermanipulators (1), mit den Schritten: - Durchführen (S1) einer Systemidentifikation zum Ermitteln des Massemodells, - Bereitstellen (S2) der Schätzung des lokalen Schwerkraftvektors, - Bewegen (S3) des Robotermanipulators (1) an eine Vielzahl vorgegebener Orte, - Ansteuern (S4) von Aktuatoren (3) des Robotermanipulators (1) mit einem Vorsteuersignal einer Schwerkraftkompensation basierend auf dem Massemodell und der Schätzung des Schwerkraftvektors, - Ermitteln (S5) einer Ableitung der Position des Robotermanipulators (1) durch eine Sensoreinheit (7), - Prüfen (S6), ob am jeweiligen der vorgegebenen Orte eine Ableitung der Position des Referenzpunktes ungleich null auftritt, und - Ausführen (S7) einer vorgegebenen Reaktion, wenn eine Ableitung des Referenzpunktes ungleich null auftritt.
81	Designated WO countries	WDS	AE, 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 documents	EPWOPN	Original document: WO2021013975A1 Searchable text: WO2021013975A1
43	Date of first publication	EVT	Jan 28, 2021
	Date of the first transfer into DPMAregister	EREGT	Jan 29, 2021
	Date of the (most recent) update in DPMAregister	REGT	Feb 24, 2022 (Show all update days)(Hide all update days) Feb 24, 2022 Historical data not available for this/these date(s) Jan 29, 2021 Date of the first transfer into DPMAregister

Procedural data
No.	Kind of procedure	Legal status	Date of legal/procedural status	Alle Details anzeigen
1	Pre-registration procedure	The application is under preliminary examination	Jul 24, 2020	Details anzeigen
2	Search procedure	Request for search effectively filed	Jul 24, 2020	Details anzeigen
3	Procedure relating to PCT application	WO first publication with search report	Jan 28, 2021	Details anzeigen
4	Procedure relating to PCT application	Ceased to have effect for DE	Jan 26, 2022	Details anzeigen

View procedures Pre-registration procedure (No.: 1)
Criterion	Field	Content Close details
Type of procedure	VART	Pre-registration procedure
Legal/procedural status	VST	The application is under preliminary examination
Date of legal/procedural status	VSTT	Jul 24, 2020
Date of update of the procedure	REGT	Jan 29, 2021

View procedures Search procedure (No.: 2)
Criterion	Field	Content Close details
Type of procedure	VART	Search procedure
Legal/procedural status	VST	Request for search effectively filed
Date of legal/procedural status	VSTT	Jul 24, 2020
Third party request		No
Date of receipt	AEGT	Jul 24, 2020
Date of update of the procedure	REGT	Jan 29, 2021

View procedures Procedure relating to PCT application (No.: 3)
Criterion	Field	Content Close details
Type of procedure	VART	Procedure relating to PCT application
Legal/procedural status	VST	WO first publication with search report
Date of legal/procedural status	VSTT	Jan 28, 2021
Date of update of the procedure	REGT	Jan 29, 2021

View procedures Procedure relating to PCT application (No.: 4)
Criterion	Field	Content Close details
Type of procedure	VART	Procedure relating to PCT application
Legal/procedural status	VST	Ceased to have effect for DE
Date of legal/procedural status	VSTT	Jan 26, 2022
Date of update of the procedure	REGT	Feb 24, 2022