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Presets for synchronized robot movements

A robot and motion technology, applied in the field of programming devices for robot motion, can solve problems such as error-prone, limited robot flexibility, and high cost

Active Publication Date: 2017-03-01
KUKA ROBOTER
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Not only is this expensive and error-prone, but it also unnecessarily limits the flexibility of the other robot, e.g. limiting the possibility to change the motion for optimization

Method used

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  • Presets for synchronized robot movements
  • Presets for synchronized robot movements
  • Presets for synchronized robot movements

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0027] Figure 1A , Figure 1BShown, as mentioned at the outset, are the time curves of two robot axis arrangements, each of which has only one robot axis q1 or q2 for ease of understanding, where the two axes at time Ti, T(i+1), T(i+2), . . . are synchronous, ie there are respectively (successive) instants at which the corresponding robot axes q1 , q2 have a predetermined attitude. exist Figure 1A The robot axis q2 runs slower, that is, it uses the running time T(i+1)-Ti required for the robot axis q1 for the pre-specified motion q2(T(i+1))-q2(Ti), in Figure 1B where it runs at maximum velocity or acceleration and waits for robot axis q1.

[0028] Contrary to Figure 1, in figure 2 , not with respect to time, but in the joint coordinates or workspace pre-specified by the spline function between the initial pose q1_0, q2_0 or q3_0 and the final pose q1_4, q2_5 or q3_3.

[0029] The initial pose and the final pose form a mutually synchronized outer pose pair. By means of ...

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PUM

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Abstract

The programming structure has first pair of pose portion (q1-0,q1-4) which sets movement of a robot wheel arrangement. Second pair of pose portion (q2-0,q2-5,q3-0,q3-3) is provided to synchronize the movement of the robot wheel arrangement, and maintain the synchronization between third pair of pose portion (q1-2,q2-2,q2-4) to pretend that is not synchronized with another pose. An independent claim is included for a method for setting movement of the robot wheel arrangement.

Description

technical field [0001] The invention relates to a programming device and method for presetting synchronized robot movements. Background technique [0002] In particular, for technical reasons it may be desirable or necessary for two or more robots to assume a predetermined posture at the same time, for example for jointly manipulating a workpiece, in particular handling, for example handing over a workpiece. [0003] To this end, FIG. 1 shows the internally known principle for correspondingly synchronizing two robots, described by joint coordinates q1 or q2 of the robots. Here the slower robot 1 starts from a previous pose q1(Ti) and runs with maximum velocity or acceleration to a preset later pose q1(T(i+1)). It can be seen that the required running time △T=T(i+1)-Ti. In order for two robots to take synchronized poses q1(T(i+1)) and q2(T(i+1)) at one moment, one can either make the faster robot run slower during this running time, ie not operating at its maximum velocity...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G05D1/08
CPCB25J9/1682B25J9/163B25J9/1669G05B2219/39109G05B2219/40307Y10S901/08
Inventor 京特·韦德曼曼弗雷德·许滕霍夫尔斯蒂法尼·德乐安德烈亚斯·哈格瑙尔马丁·魏斯
Owner KUKA ROBOTER