Kuka Roboter Gmbh

Kuka Deutschland Gmbh

Kuka Laboratories Gmbh

Gerhard Hietmann

Jens Bunsendal

Arif Kazi

Uwe Zimmermann

Martin Weiss

Marc-Walter Ueberle

Rainer Bischoff

Simon Klumpp

Andreas Sedlmayr

Johannes Kurth

Thomas Finsterwalder

Richard Rudolf

Volker Schmirgel

Richard Schwarz

Christian Hartmann

Carsten Spieβ

Thomas Finsterwald

Philipp Wullner

Sebastian Reitelshofer

Sebastian REITELSHÖFER

Sebastian Reitelshöfer

Philipp Wüllner

Carsten Spiess

A method for actuating a manipulator system by means of a portable end device, a corresponding portable end device, and a robot system. The portable end device includes a 3-D camera that is a plenoptic camera. A three-dimensional image is acquired by means of the 3-D camera of the portable end device of at least part the manipulator system to be actuated. The image identifies at least one actuatable object in the manipulator system. A task is selected for the identified object to actuate. By selecting the identified actuatable object, the object is actuated to perform the task.

Selection of a device or object using a camera

A method for controlling a robot in at least one pose of the robot wherein the robot can be operated in either a first mode of operation or a second mode of operation. In the second mode of operation the robot can be moved by manually applying a guiding force to the robot. The method includes determining a distance of a state variable of the robot from a first limit and then triggering a safety response when the distance satisfies a first condition and the robot is operating in the first mode of operation. When the robot is operating in the second mode of operation and the distance satisfies the first condition, the method includes not triggering the safety response, and motorically applying a positioning force to the robot in dependence on the determined distance so that the distance can be reduced when the robot is unobstructed.

Method and apparatus for controlling a robot

A method for identifying a manipulator by means of a portable terminal device, wherein the portable terminal device comprises a 3D camera. The method operates to detect a three-dimensional image of at least one part of the manipulator to be identified by means of the 3D camera of the portable terminal device. An actual status of the manipulator is determined based on the three-dimensional image detected. The 3D camera is a plenoptic camera, and the detected three-dimensional image comprises a four-dimensional light field of at least one part of the manipulator to be identified.

Determining the robot axis angle and selection of a robot with the aid of a camera

A method for controlling a multiaxial jointed-arm robot. A plurality of reference data sets are recorded during a previous monitored reference travel. During an operational travel, a trajectory progress variable is established and is used to monitor the movement of the manipulator on the basis of the reference data sets.

Safe robot with trajectory progress variables

Methods and apparatus for adjusting and controlling a robotic manipulator based on a dynamic manipulator model. A model for gear mechanism friction torque is determined for at least one axis, based on driven axis speeds and accelerations, and on a motor temperature on the drive side of one of the motors that is associated with the axis. The model is used to determine target values, such as motor position or current. The gear mechanism friction torque that complies with the model is determined in accordance with a gear mechanism temperature.

Method and device for adjusting and controlling manipulators

A method for programming an industrial robot includes moving a manipulator arm of the industrial robot manually (hand guided) into at least one pose in which at least one control variable, which is to be entered in a robot program, is recorded by a control device of the industrial robot and is saved as a parameter of an associated program instruction in the robot program. In another aspect, an industrial robot includes a robot control unit which is designed and/or configured to carry out such a method.

Method for programming an industrial robot and industrial robot

A process module library according to the invention for programming a manipulator process, in particular an assembly process, comprises a plurality of parametrisable process modules ('search( )', 'peg_in_hole( )', &#x201c;gear( )&#x201d;, &#x201c;screw( )&#x201d;) for carrying out a sub-process which in particular is common to different manipulator processes. Each of the process modules comprises a plurality of basic commands of a common set of basic commands for carrying out a basic operation, in particular an atomic or molecular operation, and a process module can be linked, in particular mathematically, to a further process module and/or a basic command. During programming, a manipulator can be controlled by means of a functional module of a graphic programming environment ().

Process module library and programming environment for programming a manipulator process

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

A method and a system for controlling a plurality of manipulators with a large number of control units associated with the manipulators in such a way that each control unit controls at least one manipulator, are characterized in that an operating device accesses several control units for controlling the manipulators. Thus, it is possible according to the invention to operate even very closely juxtaposed manipulators without any crossing and interlacing of the connecting channels between the operating devices and control units which would prevent a reliable association in operation. The invention also makes it possible for only one operator to operate cooperating robots.

Method and device for controlling a plurality of manipulators

In order to improve the safety of a machine, particularly a robot, such as a multiaxial or multiaxle industrial robot during the operation thereof, particularly in the presence of human beings, the invention provides a method for operating the machine, which is characterized in that at least one path section is traversed in monitored manner in a reference trip, that movement-characteristic operating values are continuously measured and stored as reference values and that during machine operation said operating values are also determined and compared with the stored reference values. The invention also relates to a device for performing the method.

Method and device for operating a machine, such as a multiaxial industrial robot

A robot has a robot structure, preferably a plurality of interconnected arms. The robot also has drives for driving the arms, and a plurality of electronic drive units for operating and controlling the drives. The electronic drive units generate heat when in operation and are distributed on the robot structure at spaced locations from each other. A thermal insulation is arranged between the robot structure and the drive electronics. A cooling device is arranged on the drive electronics and is spaced from the robot structure.

Robot

An apparatus system is provided with at least one robot and with a control unit accommodated in a control cabinet. To improve the integration of robot and technology control units and to utilize synergistic effects, at least one additional, independent electronic system different from the control unit for the robot is provided accommodated in the control cabinet.

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Herbertshofen, Germany

Gerhard Hietmann