Kuka Roboter Gmbh

Kuka Laboratories Gmbh

Christian Sonner

Uwe Zimmermann

Martin Weiss

Jonas Rümping

Martin Weiß

Jonas RÜMPING

According to a method according to the invention for operating an additional tool axis (Z) of a tool () guided by a manipulator, in particular a robot (), a position and/or an orientation of the tool in space are defined by axis positions (q-q) of the manipulator axes and a position value (f) of the tool axis, are saved and/or displayed, with an automatic conversion being carried out between the position value (f) and an axis position (e) of the tool axis which brings it about.

Method and device for controlling an auxiliary tool axis of a tool being guided by a manipulator

According to a method according to the invention for controlling a robot, in particular a human-collaborating robot, a robot- or task-specific redundancy of the robot is resolved, wherein, in order to resolve the redundancy, a pose-dependent inertia variable of the robot is minimized.

Method and control means for controlling a robot

According to a method according to the invention for controlling a manipulator, in particular a robot (), a planned path (z(t)) of the manipulator is specified by a path generating device (), a control path (z(t)) is determined automatically on the basis of the planned path by a path conversion device (), and the control path is traversed with the manipulator by a manipulator controller (), with the path conversion device () determining curvature information (a; t(t)) of the control path on the basis of curvature information (a; t(t)) of the planned path.

Method and device for controlling a manipulator

In a method for controlling a manipulator, in particular a robot, a reference path is stored and reference increments are automatically determined while following the path the reference increments are determined based on the dynamics of the manipulator while following the path.

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Munich, Germany

Christian Sonner