Process module library and programming environment for programming a manipulator process

A technology of manipulator and module library, applied in the direction of program control, program control device, program control manipulator, etc., can solve problems that hinder the industrial application of robots, and achieve the effect of process optimization

Active Publication Date: 2012-12-12
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

If the program is corrected or changed, for example by modifying or adding basic instructions and/or gestures, this process must be carried out repeatedly, which togethe

Method used

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  • Process module library and programming environment for programming a manipulator process
  • Process module library and programming environment for programming a manipulator process
  • Process module library and programming environment for programming a manipulator process

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0061] figure 1 Illustrated is pose-seeking programmed with process modules according to an embodiment of the invention.

[0062] Here, a light robot (not shown) positions the pin 1 in a position-controlled manner in an insertion direction relative to the recess 2.1 to be searched in the surface to be searched of the workpiece 2 (in the figure 1 is placed obliquely on the workpiece 2 at an angle of 15°, and immediately switches to compliant control in at least one Cartesian translation and / or rotational direction upon contact to prevent the workpiece 2 from being damaged.

[0063] Now force-controlled or compliant-controlled application of force F perpendicular to the surface to be searched z , in order to clamp the pin 1 in the recess 2.1 when driving over. The pin will be in the search direction V x Proceeding in a compliant manner, wherein the end point of the virtual spring (which is simulated by compliant control between the end point and the pin 1 ) moves in the searc...

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PUM

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Abstract

A process module library according to the invention for programming a manipulator process, in particular an assembly process, comprises a plurality of parametrisable process modules (''search()'',''peg_in_hole()'',''gear()'',''screw()'') for carrying out a sub-process which in particular is common to different manipulator processes. Each of the process modules comprises a plurality of basic commands of a common set of basic commands for carrying out a basic operation, in particular an atomic or molecular operation, and a process module can be linked, in particular mathematically, to a further process module and/or a basic command. During programming, a manipulator can be controlled by means of a functional module of a graphic programming environment (100).

Description

technical field [0001] The invention relates to a process module library and a graphical programming environment for programming manipulator processes, in particular installation processes carried out with at least one manipulator, a process module library and / or a graphical programming environment using such a process module library A method of programming a manipulator process and a method of building a library of such process modules. Background technique [0002] Traditional rigid position-controlled industrial robots can be programmed through the association of simple basic commands of a verifiable basic command set (such as "LIN", "CIRC" and "PTP") to pre-determine the position in the taught position The movement between linear, arc or axial travel is then accurately executed by a rigid position-controlled industrial robot. [0003] However, since the manipulator and its control are becoming more and more complex, its potential cannot be fully exploited or can only be...

Claims

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Application Information

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IPC IPC(8): B25J9/16G06F9/44
CPCG05B2219/23258G05B2219/40099G05B2219/40395B25J9/1661B25J9/1671B25J9/1687G05B2219/40392G05B19/0426G05B2219/40032G05B2219/36025
Inventor 沃尔克·施米格尔格哈德·希藤曼塞巴斯蒂安·赖特尔绍费尔西蒙·克隆普约翰内斯·库尔特
Owner 库卡实验仪器有限公司
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