Method for programming or setting movements or sequences of industrial robot

Abstract

The invention relates to a method for programming or setting movements or sequences of an industrial robot (2) or another handling device having multiaxis control. To this end, at least some of the data and control commands for controlling the movement, or programming the sequence, of the industrial robot (2) are generated via a movement setting means (10) to be operated manually by an operator. Said control commands are then implemented by the industrial robot (2) substantially without delay. It is essential that, on the basis of the movement setting by means of the movement setting means (10) to be operated manually and / or on the basis of the measured values, acquired by sensors, of the movement carried out by the industrial robot (2) and / or on the basis of the control commands generated by the control system (1), a characteristic movement variable is determined and compared to an upper limiting value, and that, if the upper limiting value is exceeded, the movement or sequence change of the industrial robot (2) is stopped immediately or after an overrun phase limited in a defined manner, and / or that, if the characteristic movement variable approaches the upper limiting value in a defined manner, or if a lower limiting value, which is lower than the upper limiting value, is exceeded, the closeness to or approach of the upper limiting value is signaled to the operator by outputting a warning signal.

Description

technical field [0001] The invention relates to a method according to claim 1 for programming or presetting the motion or sequence of an industrial robot or other multi-axis controllable manipulating device. Background technique [0002] Guiding systems or guidance systems for industrial manipulators or comparable, multi-axis controllable manipulators are known from the prior art, the principle of which is based on presetting the operator with a movement to be manually guided. The movement implemented by the mechanism is directly transmitted to the industrial manipulator. In this case, built-in and / or external sensors are used to determine the free movement of the movement presetting mechanism to be manually guided, from which the movement of the movement presetting mechanism and, furthermore, the corresponding movement of the industrial robot are calculated. In this case, the movement of the industrial robot can be limited to a rotation or translation of an arm of the indu...

AI Technical Summary

Problems solved by technology

However, this speed limitation can be disadvantageous in the case of preset motions directly coupled by the operator or in the case of immediate, substantially undelayed changeover by industrial robots, or lead to the problems mentioned above

Images