Method for programming or presetting the motion or process of an industrial manipulator

Abstract

The invention relates to a method for programming or setting movements or sequences of an industrial robot (2), or of another handling device or machine tool having multiaxis control. To this end, at least some of the data and control commands for controlling the movement, or programming the sequences, are generated by a control system (1) via a movement setting means (10) that is to be operated manually by an operator and has integrated and / or external sensors (11; 12), which are provided to determine the orientation and / or position in space of the movement setting means (10) to be operated manually. Said control commands are converted into corresponding movements or sequence changes by the industrial robot (2) substantially without delay. The orientation, the state of movement and / or the pattern of movement of the movement setting means (10) are registered continuously by a validation unit (17), are evaluated and are subjected to a situation-based validation and / or an admissibility check. A movement release for the movement of the industrial robot (2) is then granted or withdrawn, or refused, depending on the result of the check. Safety in connection with a movement setting means (10) to be operated manually can therefore be increased considerably. The invention further relates to a correspondingly designed control system (1) and to a corresponding movement setting means (10).

Description

technical field [0001] The invention relates to a method for programming or presetting movements or processes of an industrial robot. 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 industrial robot or of an operating axis. It is also possible to limit or sel...

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

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