Broetje-automation Gmbh

Marcel Meyer

Dirk Eickhorst

Various embodiments relate to a method for motion simulation for a manipulator, such as an NC-controlled manipulator, in a machining environment, wherein the manipulator is moved in an operating mode by a control apparatus and the machining environment is at least partly mapped in an environment model and wherein the method comprises computation of a trajectory plan by the control apparatus from a setpoint movement of the manipulator starting from an initial situation and based on a kinematic model of the manipulator, performance of a kinematic collision check based on the trajectory plan, the kinematic model and the environment model, and production of a prediction result based on the kinematic collision check. The method is characterized in that the initial situation corresponds to the current manipulator state. Further, some embodiments relate to a corresponding computer program with program code and to a corresponding system for motion simulation for a manipulator.

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Bad Zwischenahn, Germany

Marcel Meyer