Kuka Roboter Gmbh

Kuka Deutschland Gmbh

Kuka Laboratories Gmbh

Deutsches Zentrum Fur Luft-und Raumfahrt E.v.

Christian Scheurer

Uwe Zimmermann

Shashank Sharma

Stephanie Bobert

Andreas Stemmer

Marinus Danzer

Tim BODENMÜLLER

Uwe E Zimmermann

A method for redundancy-optimized planning of the operation of a redundant mobile robot having a robot arm includes using a tool center point (TCP) associated with the robot arm and assigned a Cartesian TCP coordinate system having a first, second, and third TCP-coordinate axes; using a Cartesian world coordinate system having first, second, and third world coordinate axes, wherein the first and second world coordinate axes span a plane on which the mobile robot moves, a height of the TCP from which the plane is assigned, and one of the TCP coordinate axes and the plane enclose an angle; creating at least one graph wherein a redundancy is presented as a function of the height and the angle, wherein the redundancy is a measure of possible configurations of the mobile robot depending on the height and the angle; and planning operation of the mobile robot using the graph.

Method for the redundancy-optimized planning of the operation of a mobile robot

The invention relates to a method and a system for determining gripping regions on an object. The object is to be gripped, based on the determined gripping regions, by means of a robot. At least one first gripping pose of the robot is taught at the object, and additional gripping poses are determined at the object. Based on these gripping poses, a first gripping region is configured.

Determination of object-related gripping regions using a robot

The invention relates to a method for determining possible positions of a robot arm of a robot. The robot arm comprises a frame, numerous links, disposed successively, which can move in relation to one another, with respect to axes. First, a target position and target orientation in space for a robot arm or a tool center point assigned to an end effector attached to the robot arm, are defined, to which a reference coordinate system having polar coordinates is assigned. Subsequently, potential possible positions of the frame of the robot arm in space and in the polar coordinates of the reference coordinate system are determined on the basis of the geometry of the robot arm, such that the tool center point can assume the defined target position and target orientation.

Method for determining possible positions of a robot arm

The invention relates to a method for collision-free path planning for an industrial robot () which has a control device () and a robot arm () that is movable with the aid of the control device (), to which an object () is attached, and in whose working space at least one obstacle () is situated.

Method for collision-free path planning of an industrial robot

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Augsburg, Germany

Christian Scheurer