Kuka Roboter Gmbh

Zf Friedrichshafen Ag

Kuka Laboratories Gmbh

Kuka Deutschland Gmbh

Martin Weiss

Andreas Hagenauer

Stefan Renner

Uwe Zimmermann

Gerhard Hietmann

Dirk Jacob

Rainer Krumbacher

Horst Schulz

Manfred Hüttenhofer

Rainer Bischoff

Joachim Markert

Manfred Huettenhofer

Guenther Wiedemann

Günther Wiedemann

Thomas Finsterwalder

Christian Sonner

Andreas Aurnhammer

Stefan Burkhart

Jürgen Pescheck

Thomas Waim

Maximilian Scheufler

Stefanie Deller

Thomas Bergmann

G&uuml;nther Merk

Burkhard Stimmel

Michael Thümmel

A planetary gearset () has a planetary carrier () and a plurality of planetary gearwheel axles arranged axially offset relative to one another and on which planetary gearwheels () are mounted to rotate. A first carrier section () is arranged at a first axial end of the planetary gearwheel axles and a second carrier section () is arranged at a second axial end of the planetary gearwheel axles. The first carrier section () is in the form of a casting with the planetary gearwheel axles formed as axially projecting journals () made integrally with the first carrier section (). The second carrier section () is attached as a separate component onto the journals (), and the first carrier section () and the second carrier section () hold the journals () axially at both ends at fixed, unvarying axial distances apart from one another.

Planetary gearset and vehicle driveline

Claw-type shifting mechanism () with a first sliding sleeve () and a fixed coupling element (). In order to produce a passage, the first sliding sleeve () and the coupling element () each respectively have at least one recess () and at least one web section (), in which the first sliding sleeve () and the coupling element () can be arranged together radially on the outside on a first shaft. The first sliding sleeve () can be displaced along the first shaft and the coupling element () can be connected firmly to the first shaft. The drive arrangement () comprises at least one drive machine, a transmission with a first shaft, a second shaft and a third shaft, a housing, and a claw-type shifting mechanism () of this type.

Dog clutch and drive arrangement

A transducer magnet assembly () on a shifting rail () having a transducer magnet () which is held by a magnet support (), and a coupling ring (). The coupling ring () surrounds the shifting rail () and the magnet support () locks the coupling ring () so that the coupling ring () is held onto the shifting rail ().

Transducer magnet assembly and mounting method

An inventive programming means for programming a movement of a robot axis arrangement and a movement of at least one further robot axis arrangement is adapted to synchronize the pair of positions of the movement of the robot axis arrangement and the pairs of positions of the movement of at least one more robot axis arrangement, and while maintaining this synchronization, to specify at least another position between either one of these pairs of positions, which is not synchronized with another position of the hereby synchronized pair of positions.

Setting synchronized robot movements

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 designating and/or controlling a manipulator process for a manipulator configuration having at least one manipulator, in particular, an industrial robot, wherein the manipulator process includes a given oriented manipulator path for the manipulator configuration. The method includes designating or executing at least one action by the manipulator configuration, in particular, differently, in response to a reverse movement running counter to the oriented manipulator path, and/or a return movement running in the same direction as the oriented manipulator path.

Method and means for providing and/or controlling a manipulator process

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

According to a method according to the invention for controlling a manipulator, in particular a robot (), a planned path (z(t)) of the manipulator is specified by a path generating device (), a control path (z(t)) is determined automatically on the basis of the planned path by a path conversion device (), and the control path is traversed with the manipulator by a manipulator controller (), with the path conversion device () determining curvature information (a; t(t)) of the control path on the basis of curvature information (a; t(t)) of the planned path.

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

Accompanied by the optimization of the possibilities of use of a robot, particularly with regards to low cycle times and high loads, damage to the robot through exceeding the energy absorbable by the structure is still prevented when robot parts strike against the mechanical structure as a result of faults or errors, according to the invention in a method for controlling the movement of a robot, the kinetic energy of moving robot members (G g , . . . , g ) about an axis (A ) is limited to the energy absorbable in damage-free manner by a mechanical buffer associated with the corresponding axis (A ).

Growing community of inventors

Margertshausen, Germany

Martin Weiss