Industrial robot and method for controlling motion of industrial robot

An industrial robot and motion technology, applied in the direction of program control manipulator, program control, general control system, etc., can solve problems such as process geometry and process speed uncertainty, and achieve the effect of avoiding duration

Active Publication Date: 2011-12-28
库卡实验仪器有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0025] Due to disadvantages 1, 3, the process geometry and process speed are indeterminate
[0026] Due to disadvantages 3, 4, 5, the surrounding paths and procedural points must be kept at a safe distance, because both the exact stop path and the outer loop path must be collision-free and traversable

Method used

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  • Industrial robot and method for controlling motion of industrial robot
  • Industrial robot and method for controlling motion of industrial robot
  • Industrial robot and method for controlling motion of industrial robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0077] already in the introduction Figure 1 to Figure 3 Made a description.

[0078] Figure 4 An industrial robot 1 is shown, which has kinematics for movement in, for example, 6 degrees of freedom. The industrial robot 1 has joints 2 to 4 , levers 5 , 6 , six axes of motion A1 to A6 and a flange 7 , on which actuators (not shown), such as tools, can be fastened, in a generally known manner.

[0079] Drives, not shown, move each axis of motion A1 to A6. As known to those skilled in the art, the drive means includes, for example, electric motors and gears.

[0080] In addition, the industrial robot 1 has a control device, which is a control calculator 8 in the present embodiment. The control calculator 8 is connected to the driving device of the industrial robot 1 in a manner not shown, and uses the A program is calculated to control the drive so that the flange 7 of the industrial robot 1 executes a predetermined movement.

[0081] The control arithmetic unit 8 has a me...

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PUM

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Abstract

The invention relates to an industrial robot (1) with a control device (8) and a method of controlling the movement of the industrial robot (1). In this method, instructions provided for controlling an industrial robot (1) are queried; an interpreter (13) is used to generate interpreted instructions by interpreting the queried instructions and store the interpreted instructions in a buffer (10). Repeat the above steps until you find your first keyword. A data record (15) is then generated from the interpreted instructions stored in the intermediate memory (10), the data record (15) containing information about at least part of the path along which the industrial robot (1) is to move. The data set (15) is loaded into the buffer memory (11), retrieved from the buffer memory (11) and interpolated with the aid of an interpolator (14) in order to move the industrial robot (1) along this part of the path.

Description

technical field [0001] The present invention relates to an industrial robot and a method for controlling the motion of the industrial robot. Background technique [0002] Industrial robots are usually performing machines, which are equipped with specific tools and are programmable with multiple axes of motion, especially with respect to orientation, position and workflow, to handle objects automatically. Industrial robots usually include a robot arm, a control device and, if necessary, an actuator, which can be designed as a gripper, for example, to grasp a tool and be attached to the robot arm or fastened to the robot arm. A robot arm can basically be described as a movable part of an industrial robot and has a number of axes, which can be controlled, for example, by electric drives of a control device for the movement of the industrial robot, so that, for example, the actuators move along a predetermined direction. move on a given path. [0003] The basis of the conventi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCG05B2219/40395G05B2219/34175B25J9/1656G05B2219/36032
Inventor 马丁·魏斯曼弗雷德·许腾霍夫尔安德烈亚斯·哈格瑙尔京特·韦德曼
Owner 库卡实验仪器有限公司
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