Kuka Roboter Gmbh

Kuka Laboratories Gmbh

Stefan Burkhart

Manfred Hüttenhofer

Günther Wiedemann

Andreas Aurnhammer

Holger Tronnier

Martin Weiss

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

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.

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Dillingen a. d. Donau, Germany

Stefan Burkhart