Kuka Roboter Gmbh

Kuka Deutschland Gmbh

Andreas Sedlmayr

Gerhard Hietmann

Matthias Kurze

The invention relates to a method for correcting errors in a manipulator system, wherein the manipulator system comprises at least one manipulator and is controlled by means of at least one manipulator program, wherein the method comprises the following method steps: &#x22c5;providing at least one manipulator program, wherein the manipulator program comprises several operations; &#x22c5;combining at least two of the operations to form at least one operation structure; &#x22c5;defining at least one placement point (APAP), wherein the at least one placement point (APAP) forms the start andor the end of an operation structure (); &#x22c5;providing at least one reaction structure () and assigning the reaction structure () to an operation structure (), wherein tlte at least one reaction structure () contains reaction operations (Rto Rn), upon the execution of which, the manipulator program controls the manipulator system such that it is passed into a system state which corresponds to a placement point (APAP); &#x22c5;executing the manipulator program and, if an error occurs, &#x22c5;executing the reaction structure () such that the manipulator system is transferred into a system stare which corresponds to a placement point (APAP).

Method and computer program for correcting errors in a manipulator system

The present invention relates to a computer program for producing a graphical user interface () of a manipulator program and to a method for navigation through a manipulator program, wherein the manipulator system () controlled by the manipulator program comprises at least one manipulator (). The manipulator program comprises at least one set-down point (APto AP). The user interface () has a graphical program progress indicator () which indicates the current program progress of the manipulator program and the at least one set-down point (APto AP) of the manipulator program. The at least one set-down point (APto AP) indicated can be selected by a user, and the manipulator program is set up to control the manipulator system () in such a manner that the system assumes a system state assigned to the selected set-down point (APto AP) in response to the selection. The method comprises the steps of: providing a manipulator program; producing the graphical user interface; stopping the manipulator program; receiving a selection of a set-down point on the program progress indicator of the graphical user interface; and guiding the manipulator program to the selected set-down point, with the result that the manipulator program controls the manipulator system in such a manner that the system assumes the system state assigned to the selected set-down point. Such navigation may be advantageous, in particular, in the field of debugging, error correction and parameter correction or parameter optimization.

Method and computer program for producing a graphical user interface of a manipulator program

According to the present invention a portable hand-held device () for detecting the spatial position of a working point of a manipulator, in particular of a robot, comprises handling means () for handling the hand-held device by a user, means for detecting a position (), wherein a spatial position of the means for detecting a position () is detectable; and a tactile element () which is connected, preferably detachably connected, to the means for detecting a position and at which a reference point (R) is defined, wherein the handling means () and the means for detecting a position () are connected with one another by a joint.

Hand-held device and method for detecting the spatial position of a working point of a manipulator

In a method for determining measurement points on a physical object, a number of measurement points are first selected in a graphical computer model of the object, until a sufficient number of measuring points have been selected so as to allow the position and orientation (lay) of the object to be determined relative to a reference system. A further measuring point of the object is then selected in the graphical computer model, and a check is automatically made to determine whether the further measuring point can determine the lay of the object relative to the reference coordinate system more accurately. If so, the further measuring point is used for this determination. Further measuring points are selected and checked in this manner, until the lay of the object can be determined better than with a predefined tolerance.

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Fürstenfeldbruck, Germany

Andreas Sedlmayr