Kuka Roboter Gmbh

Gmf Robotics Corporation

Kuka Robotics Corporation

Trellis Software & Controls, Inc.

Kenneth A Stoddard

R William Kneifel, Ii

Michael C Chaffee

Andreas Hagenauer

Stefan Graf

David Martin

Khalid Mirza

Edward Volcic

Jason A Sattler

Chia P Day

Richard A Morse

David M Martin

RWilliam Kneifel Ii

Control programs for robotic systems are synchronized through the use of synchronization objects which control access to shared resources and allow for sequencing of events in separate program threads. Where necessary, partner objects generate between control programs and synchronization objects to assure uniform interaction between control program threads and synchronization objects. As all synchronization objects contain searchable partner lists, actual simulated and runtime deadlocks including any type of synchronization object can be detected, and the full system can be analyzed to identify potential deadlocks.

Uniform synchronizing robot control and deadlock detection in uniform synchronization

A method for controlling a robot during an interpolation of a trajectory or motion to any prescribed position, comprises the steps of a) ignoring at least one of the three originally prescribed or interpolated tool center point orientation values; b) finding new tool center point orientation values that place the wrist center point of the robot closest to its base while c) maintaining the originally prescribed or interpolated tool center point location values and d) maintaining the original prescribed or interpolated tool center point orientation values not ignored. Said method can preferably be used for carrying a load with a plurality of robots. Its main advantage is an increase of the available working volume.

Method and device for controlling robot

The present invention is a system for controlling exclusive access by control programs () to system resources (). A system in accordance with the invention includes a plurality of addressable locations (and) in the system; a communication system () connecting the addressable locations which transmits communications between the addressable locations; a plurality of machines (), the machines being located at at least one of the addressable locations; a plurality of control programs which use resources including a plurality of machine control programs, each machine control program controlling at least one machine; and a plurality of resource managers (), the resource managers being located at a plurality of the addressable locations, each resource manager communicating over the communication system with at least one other resource manager, and the plurality of resource managers arbitrating which control program of the plurality of control programs is given exclusive use of at least one resource during execution of the control program.

System controlling exclusive access by control programs to system resources

A method for the synchronous control of several manipulators, such as several industrial robots, is characterized in that control units of specific manipulators exchange control information according to the data structures contained in a corresponding control program, through which control units to be synchronized and synchronization points in the control programs taking place there can be clearly identified, and in that on reaching and synchronization points the program sequence in the control units to be synchronized is continued according to the contents of the data structures in conjunction with the already exchanged control information or stopped until corresponding information arrives from other control units to be synchronized.

Method and apparatus for the synchronous control of manipulations

A robot control system is provided for facilitating coordination amongst various robotic machines. The robot control system includes a plurality of robot controllers, such that each robot controller having an associated motion system adapted to control at least one robotic machine and the associated motion system is adapted to receive motion control commands from more than one robot control program. The robot control system further includes a remote instruction source that supplies motion control commands to the robot controllers, and a mutual exclusion mechanism residing on either the remote program instruction source or one of the robot controllers, where the mutual exclusion mechanism prevents simultaneous access by more than one robot control program to a given robotic machine. In operation, motion control commands are propagated from the remote program instruction source over a computer network to a selected group of the robot controllers.

Coordinated robot control from multiple remote instruction sources

A system for controlling a plurality of robots and a method for controlling said system. Said system comprises a plurality of controllers, each having an associated motion system adapted to control attached robots, with each motion controller being able to receive motion instructions from at least one motion instruction source and at least one of said motion instruction sources being a control program, as well as a computer network over which said controllers communicate. In this way, the invention can be applied to solve problems which are commonly encountered in coordination activities such as load sharing, mating of parts while processing, fixtureless transfer, teaching, manual motion of coordinated operations, and time coordinated motion.

Method and control system for controlling a plurality of robots

A device on a network having multiple units of programmable industrial equipment includes a control handle connected to a controller for a unit of the programmable equipment and a shared operating unit selectively connected to the control handle for controlling the unit of programmable industrial equipment through the controller. Further, the shared operating unit is adapted to connect to the network for communicating with each unit of programmable equipment on the network.

Shared operating unit for a network of programmable equipment

A control system and method including an integrator coupled with a rate-varying multiplier which operate in parallel with a conventional controller. Because the integration is rate-variable, the resulting control system has the benefits of an integral position control without the problems of integral windup and subsequent overshoot. The system and method have less following and steady state error, faster settling time and better tolerance to noise than traditional PD and PID controls in controlling dynamic manipulators such as robots. Also, because the integrations are performed in a rate-variable manner, errors due to mechanical static friction, i.e. 'sticktion', are substantially reduced without sacrificing dynamic performance of the system.

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Rochester, MI, United States of America

Kenneth A Stoddard