Register information Patent

WO file number: PCT/EP2020/082659 (Status: not pending/lapsed, Query started: May 23, 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/EP2020/082659
87WO publication numberWPN2021099452
54Designation/titleTIKALIBRIERUNG EINER IMPENDANZREGELUNG EINES ROBOTERMANIPULATORS
51IPC main classICM
(ICMV)		 B25J 9/16 (2006.01)
86WO application dateWATNov 19, 2020
72InventorINInventor not yet named
66
66
Domestic priorityPRN
PRD
10 2019 131 401.1
Nov 21, 2019
Patent division in charge 13
87WO language of publicationWLANGDE - Deutsch
57AbstractABDie Erfindung betrifft ein Verfahren zum Kalibrieren einer Impedanzregelung eines Robotermanipulators (1) mit den Schritten: - Auslenken (S1) eines Referenzpunktes (3) des Robotermanipulators (1) von einer Nulllage in eine ausgelenkte Lage, wobei der Robotermanipulator (1) eine von einer Federkonstante der Impedanzregelung und von einer ersten ermittelten Auslenkung abhängige Gegenkraft aufbringt, wobei die erste ermittelte Auslenkung auf Basis von mittels Gelenkwinkelsensoren (5) des Robotermanipulators (1) erfassten Gelenkwinkeln ermittelt wird, - Erfassen (S2) einer zweiten ermittelten Auslenkung mittels einer externen Positionsmesseinheit (7), und - Anpassen (S3) der Federkonstante der Impedanzregelung so, dass die durch den Robotermanipulator (1) aufgebrachte Gegenkraft einer vorgegebenen Gegenkraft des Robotermanipulators (1) auf Basis der zweiten ermittelten Auslenkung entspricht.
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: WO2021099452A1
Searchable text: WO2021099452A1
43Date of first publicationEVTMay 27, 2021
Date of the first transfer into DPMAregisterEREGTMay 28, 2021
Date of the (most recent) update in DPMAregisterREGTJul 21, 2022
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  • Jul 21, 2022
    • Historical data not available for this/these date(s)
  • May 28, 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 Nov 19, 2020  Details anzeigen
2 Search procedure Request for search effectively filed Nov 19, 2020  Details anzeigen
3 Procedure relating to PCT application WO first publication with search report May 27, 2021  Details anzeigen
4 Procedure relating to PCT application Ceased to have effect for DE Jun 22, 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 statusVSTTNov 19, 2020
Date of update of the procedureREGTMay 28, 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 statusVSTTNov 19, 2020
Third party request No
Date of receiptAEGTNov 19, 2020
Date of update of the procedureREGTMay 28, 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 statusVSTTMay 27, 2021
Date of update of the procedureREGTMay 28, 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 statusVSTTJun 22, 2022
Date of update of the procedureREGTJul 21, 2022