Register information Patent

WO file number: PCT/EP2020/086422 (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/EP2020/086422
87WO publication numberWPN2021122748
54Designation/titleTIKALIBRIEREN EINES VIRTUELLEN KRAFTSENSORS EINES ROBOTERMANIPULATORS
51IPC main classICM
(ICMV)		 B25J 9/16 (2006.01)
86WO application dateWATDec 16, 2020
72InventorINInventor not yet named
66
66
Domestic priorityPRN
PRD
10 2019 134 666.5
Dec 17, 2019
Patent division in charge 13
87WO language of publicationWLANGDE - Deutsch
57AbstractABDie Erfindung betrifft ein Verfahren zum Kalibrieren eines virtuellen Kraftsensors eines Robotermanipulators (1), wobei in einer Vielzahl von Posen die Schritte erfolgen: - Aufbringen (S1) eines externen Kraftwinders auf den Robotermanipulator (1), - Ermitteln (S2) einer Schätzung des externen Kraftwinders, - Ermitteln (S3) einer ersten Kalibrierungsmatrix auf Basis der ermittelten Schätzung und des vorgegebenen externen Kraftwinders, - Ermitteln (S4) einer zweiten Kalibrierungsmatrix durch Invertieren der ersten Kalibrierungsmatrix, und - Abspeichem (S5) der jeweiligen zweiten Kalibrierungsmatrix in einen Datensatz aller zweiten Kalibrierungsmatritzen unter Zuordnung der jeweiligen zweiten Kalibrierungsmatrix zu der jeweiligen Pose, für die die jeweilige zweite Kalibrierungsmatrix ermittelt wurde.
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: WO2021122748A1
Searchable text: WO2021122748A1
43Date of first publicationEVTJun 24, 2021
Date of the first transfer into DPMAregisterEREGTJun 26, 2021
Date of the (most recent) update in DPMAregisterREGTAug 17, 2022
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  • Aug 17, 2022
    • Historical data not available for this/these date(s)
  • Jun 26, 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 Dec 16, 2020  Details anzeigen
2 Search procedure Request for search effectively filed Dec 16, 2020  Details anzeigen
3 Procedure relating to PCT application WO first publication with search report Jun 24, 2021  Details anzeigen
4 Procedure relating to PCT application Ceased to have effect for DE Jul 19, 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 statusVSTTDec 16, 2020
Date of update of the procedureREGTJun 26, 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 statusVSTTDec 16, 2020
Third party request No
Date of receiptAEGTDec 16, 2020
Date of update of the procedureREGTJun 26, 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 statusVSTTJun 24, 2021
Date of update of the procedureREGTJun 26, 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 statusVSTTJul 19, 2022
Date of update of the procedureREGTAug 17, 2022