Kuka Roboter Gmbh

Kuka Laboratories Gmbh

Kuka Deutschland Gmbh

Andreas Aurnhammer

Stefan Burkhart

Manfred Hüttenhofer

Günther Wiedemann

Holger Tronnier

Andreas Hagenauer

Martin Weiss

Markus Eisensehr

Stefan DÜRNDORFER

A method for controlling a manipulator, with the method being particularly suitable for the respecting of predetermined monitoring limits. The method operates by initiating a halting movement or a speed capping based on an identified actual override trend, and is thus suitable, in particular, for path movements by means of spline interpolation.

Override-based, predictive speed capping

A method for the conditional stopping of at least one manipulator and a manipulator assembly. The manipulator travels along a path which has a stopping point. In order to be able to stop the manipulator at the stopping point, a braking point on the path is calculated as a function of a speed of the manipulator. If the status of a travel condition variable necessitates braking of the manipulator in the event of exceeding the braking point, the manipulator is braked.

Method and manipulator assembly for the conditional stopping of at least one manipulator on a path

A method according to the invention for controlling a manipulator, in particular a robot, includes the following steps: determining (S, S) a target path (q(s)) of the manipulator, and determining (S) a motion value (v(s)) for this target path, optionally, determining (S) a path segment ([s_A, s_E]) with a defined profile of a motion value (v(s)=vc), and automatically determining (S) this motion value on the basis of motion values (v_max_RB, v_max_vg) permissible in this path segment.

Method and device for controlling a manipulator

A method for stopping a manipulator includes the steps of advance simulation of stopping distances for different states and/or braking force profiles of the manipulator, estimating of an upper limit as the stopping distance on the basis of the stopping distances simulated in advance, monitoring a zone, and decelerating the manipulator when a zone is violated, wherein the monitored zone is defined variably during operation on the basis of the stopping distance of the manipulator.

Method and device for stopping a manipulator

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Munich, Germany

Andreas Aurnhammer