Kuka Roboter Gmbh

Kuka Laboratories Gmbh

Kuka Deutschland Gmbh

Günther Wiedemann

Manfred Hüttenhofer

Stefan Burkhart

Andreas Aurnhammer

Holger Tronnier

Andreas Hagenauer

Martin Weiss

Christian Sonner

Manfred Huettenhofer

Franz Pecher

Stefanie Deller

Robert Schreittmiller

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

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

The invention relates to an industrial robot () having a control apparatus (), and to a method for controlling the movement of the industrial robot (). For the purposes of the method, an instruction which is intended for controlling the industrial robot () is checked, an interpreted instruction is produced by interpretation of the checked instruction by means of an interpreter (), and the interpreted instruction is stored in a temporary store (). This process is repeated until a first keyword is detected. A data record () is then produced from the interpreted instructions stored in the temporary store (), wherein the data record () has information relating to at least one path element of a path on which the industrial robot () is intended to be moved. The data record () is loaded into a buffer store (), is checked by the buffer store () and is interpolated by means of an interpolator (), in order to move the industrial robot () on the path element.

Industrial robot and method for controlling the movement of an industrial robot

A process and a device for controlling the pressing force of the electrodes [of an] electrode holder driven by means of an electric motor, especially of an industrial robot, during the welding operation characterized in that the motor position is controlled or that a means for controlling the position of the electric motor is provided.

Process and device for controlling the pressing force of an electrode holder

In a method for controlling the movement of a manipulator associated with an interpretation of a given point sequence of poses (positions and orientations) by splines, the motion components are separately parameterized. Thus, marked, subsequent changes to the orientation of robot axes have no undesired effects on the Cartesian movement path of the robot. Suitable algorithms are provided for orientation control by using quaternions or Euler angles.

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Gersthofen, Germany

Günther Wiedemann