Kuka Roboter Gmbh

Kuka Laboratories Gmbh

Kuka Deutschland Gmbh

Rainer Bischoff

Martin Riedel

Günter Schreiber

Albrecht Hoene

Arif Kazi

Uwe Zimmermann

Gerhard Hietmann

Martin Weiss

Patrick Pfaff

Johannes Kurth

Ralf Koeppe

Jens Bunsendal

Eugen Heinze

Bernd Schnoor

Bahadir Kuepeli

Bernd Liepert

Tim Guhl

Günther Schreiber

Herman Bruyninckx

Ruben Smits

Hans-Michael Glatz

A method for overlaying AR objects on an environmental image representing the environment includes recording a depth image of the environment from a point of vision; modifying the representation of an AR object to be placed in the environmental image in terms of how it appears from the point of vision at a pre-defined spot in the environmental image; determining how the parts of the AR object facing the point of vision are arranged in relation to an associated image point of the depth image, from the point of vision; modifying at least the representation of parts of the AR object in a pre-determined manner in relation to the apparent depth in the image; and overlaying the processed AR object on the environmental image. A device for overlaying AR objects on an environmental image displaying the environment operates according to the method steps.

Method and device for determining optical overlaps with AR objects

In order to increase the safety of a robot that may come into contact with other robots, objects or humans, the invention provides that said robot comprises at least two joints and parts that are moveable in relation to each other via at least one joint. At least one sensor () is arranged on at least one moveable part (), detecting torque. Sensor components () of the sensor () are designed for the redundant detection of a torque, or for the redundant detection of a torque of at least two sensors () are provided, and redundant evaluation units are provided for the redundant evaluation. In order to increase safety, the invention further provides a method for monitoring torque on a robot of said kind, wherein at least a torque on at least one movable part () is redundantly detected and redundantly evaluated on at least one moveable part () by means of two sensor components of a sensor () or by means of two sensors ().

Robot and method for monitoring the torque on such a robot

A process and a device are provided for determining the pose as the entirety of the position and the orientation of an image reception device. The process is characterized in that the pose of the image reception device is determined with the use of at least one measuring device that is part of a robot. The device is characterized by a robot with an integrated measuring device that is part of the robot for determining the pose of the image reception device.

Process and device for determining the position and the orientation of an image reception means

A method for controlling a plurality of manipulators, such as multiaxial or multiaxle industrial robots. At least one manipulator functions as the reference manipulator and is moved in a plurality of preset poses within its working area at which internal position values are determined as first desired poses. For each desired pose, subsequently a first actual pose of the reference manipulator is determined by an external measuring system. Subsequently at least one further manipulator moves up to specific poses of the reference manipulator as second desired poses and for each of these poses an actual pose of the further manipulator is determined by an external measuring system. On the basis of actual-desired deviations between the thus determined desired and actual poses of the two manipulators, subsequently a parameter model for the further manipulator is established and with it it is possible to compensate simultaneously both its own errors and those of the reference manipulator. The method can be used in conjunction with a simplified, improved cooperation between manipulators.

Method and device for controlling manipulators

In order to improve the safety of a machine, particularly a robot, such as a multiaxial or multiaxle industrial robot during the operation thereof, particularly in the presence of human beings, the invention provides a method for operating the machine, which is characterized in that at least one path section is traversed in monitored manner in a reference trip, that movement-characteristic operating values are continuously measured and stored as reference values and that during machine operation said operating values are also determined and compared with the stored reference values. The invention also relates to a device for performing the method.

Method and device for operating a machine, such as a multiaxial industrial robot

A method for moving a multi-axis or multi-axle handling system, particularly for orienting a hand of an industrial robot, with a gripping tool connected to a hand is characterized in that the movement is performed in such a way that movement-dependent moments on an article held by the gripping tool are largely eliminated and that essentially only normal forces act between the article and the gripping tool. An apparatus according to the invention is used for performing the method. This permits a safe and speed-optimized movement of handling articles, particularly during palletizing and commissioning, which leads to corresponding economic cost advantages.

Method and apparatus for moving a handling system

To improve the operation of robots in installations reprogramming and emptying an operating sequence to be performed by them, the invention provides a method and a device for visualizing computer-assisted information in an image of the real environment on a viewing device, in which there is a determination of the position and orientation or pose of the image receiving device and that robot-specific informations corresponding to this determination are faded over the image of the real environment on the viewing device.

Method and device for visualizing computer-generated informations

Growing community of inventors

Augsburg, Germany

Rainer Bischoff