Kuka Roboter Gmbh

Kuka Laboratories Gmbh

Kuka Deutschland Gmbh

Manfred Hüttenhofer

Andreas Hagenauer

Dietmar Tscharnuter

Günther Wiedemann

Stefan Burkhart

Andreas Aurnhammer

Martin Weiss

Holger Tronnier

Markus Eisensehr

Burkhard Stimmel

Rene RÖSSIG

Stefan DÜRNDORFER

A method for controlling a robot assembly having at least one robotic arm. The method includes determining a trajectory in the axis space of the robot assembly on the basis of a path having a plurality of previously specified Cartesian poses of at least one robot-assembly-fixed reference, and determining control values in the axis space on the basis of said trajectory. The robot assembly is controlled on the basis of the control values.

Method and control means for controlling a robot assembly

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

A method according to the invention for controlling a manipulator, in particular a robot, includes the following steps: determining (S, S) a target path (q(s)) of the manipulator, and determining (S) a motion value (v(s)) for this target path, optionally, determining (S) a path segment ([s_A, s_E]) with a defined profile of a motion value (v(s)=vc), and automatically determining (S) this motion value on the basis of motion values (v_max_RB, v_max_vg) permissible in this path segment.

Method and device for controlling a manipulator

A method for stopping a manipulator includes the steps of advance simulation of stopping distances for different states and/or braking force profiles of the manipulator, estimating of an upper limit as the stopping distance on the basis of the stopping distances simulated in advance, monitoring a zone, and decelerating the manipulator when a zone is violated, wherein the monitored zone is defined variably during operation on the basis of the stopping distance of the manipulator.

Method and device for stopping 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

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.

Growing community of inventors

Meitingen, Germany

Manfred Hüttenhofer