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:
Apr. 10, 2018
Filed:
Aug. 17, 2012
Alexander Meissner, Stuttgart, DE;
Bjorn Schoell, Asperg, DE;
Jens Hacker, Markgröningen, DE;
Viktor Schretling, Asperg, DE;
Thomas Hezel, Asperg, DE;
Alexander Meissner, Stuttgart, DE;
Bjorn Schoell, Asperg, DE;
Jens Hacker, Markgröningen, DE;
Viktor Schretling, Asperg, DE;
Thomas Hezel, Asperg, DE;
Dürr Systems GmbH, Bietigheim-Bissingen, DE;
Abstract
The invention relates to a control method for a robot () having a plurality of movable robot axes (), in particular for a painting robot () or a manipulating robot, comprising the following steps: (a) predetermining a robot path by means of a plurality of path points through which a reference point of the robot () is intended to travel; (b) controlling drive motors of the individual robot axes () according to the predetermined robot path, such that the reference point of the robot () travels through the predetermined robot path; (c) precalculating the mechanical loading (My, Mx, Fx, Fy, Fz, Fx, Fy, Fz, Mx, My, Mz) that occurs within at least one of the robot axes () between two joints when travelling through the robot path ahead; and also (d) adjusting the control of the drive motors of the robot axes () on the basis of the precalculated mechanical loading (My, Mx, Fx, Fy, Fz, Fx, Fy, Fz, Mx, My, Mz), such that a mechanical overload is avoided.