The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 20, 2021
Filed:
Nov. 09, 2016
Kuka Deutschland Gmbh, Augsburg, DE;
Andreas Sedlmayr, FĂĽrstenfeldbruck, DE;
KUKA Deutschland GmbH, Augsburg, DE;
Abstract
The invention relates to a method for correcting errors in a manipulator system, wherein the manipulator system comprises at least one manipulator and is controlled by means of at least one manipulator program, wherein the method comprises the following method steps: ⋅providing at least one manipulator program, wherein the manipulator program comprises several operations; ⋅combining at least two of the operations to form at least one operation structure; ⋅defining at least one placement point (APAP), wherein the at least one placement point (APAP) forms the start andor the end of an operation structure (); ⋅providing at least one reaction structure () and assigning the reaction structure () to an operation structure (), wherein tlte at least one reaction structure () contains reaction operations (Rto Rn), upon the execution of which, the manipulator program controls the manipulator system such that it is passed into a system state which corresponds to a placement point (APAP); ⋅executing the manipulator program and, if an error occurs, ⋅executing the reaction structure () such that the manipulator system is transferred into a system stare which corresponds to a placement point (APAP).