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Control method for a robot

A control method and robot technology, applied in the direction of program control, general control system, program control manipulator, etc., can solve problems such as mechanical overload

Active Publication Date: 2014-05-28
DUERR SYST GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Furthermore, this known control method only takes into account torques that are oriented parallel to the pivot planes of the joints, ie torques oriented parallel to the pivot axes of the joints
For example, in the case of robot movements, torques are also generated transversely to the direction of motion, such torques can lead to mechanical overloads under certain circumstances and have not been taken into account by known control methods until now

Method used

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  • Control method for a robot
  • Control method for a robot

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Embodiment Construction

[0022] figure 1 A painting robot 1 which is conventional in itself is shown, which can be used, for example, for painting motor vehicle body parts in a painting plant.

[0023] In this exemplary embodiment of the invention, the painting robot 1 has a robot base 2 which is rotatable about a vertical axis of rotation 3 . However, the invention can be implemented in a similar manner with other painting robots whose robot base is fixed or movable linearly along guide rails.

[0024] A proximal robotic arm 4 is pivotably mounted on the robot base 2, wherein the robotic arm 4 is pivotable relative to the robot base 2 about a horizontal pivot axis.

[0025] The distal robotic arm 6 is pivotably mounted on the distal end of the proximal robotic arm 4 , wherein the distal robotic arm 4 is pivotable relative to the proximal robotic arm 4 about a horizontal pivot axis 7 .

[0026] Attached to the distal end of the robotic arm 6 is a multi-axis robotic wrist 8 known from the prior art a...

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PUM

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Abstract

The invention relates to a control method for a robot (1) having a plurality of movable robot axes (2, 4, 6), in particular for a painting robot (1) or a manipulating robot, comprising the following steps: (a) predetermining a robot path by means of a plurality of path points through which a reference point of the robot (1) is intended to travel; (b) controlling drive motors of the individual robot axes (2, 4, 6) according to the predetermined robot path, such that the reference point of the robot (1) travels through the predetermined robot path; (c) precalculating the mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2) that occurs within at least one of the robot axes (2, 4, 6) between two joints when travelling through the robot path ahead; and also (d) adjusting the control of the drive motors of the robot axes (2, 4, 6) on the basis of the precalculated mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2), such that a mechanical overload is avoided.

Description

technical field [0001] The invention relates to a robot control method, in particular to a control method for a painting robot or an operating robot in painting equipment. Background technique [0002] EP2146825A1 describes a robot control method which takes into account path correction values ​​for the robot during motion control, so that the robot path traveled by the robot corresponds as precisely as possible to the predetermined robot path. Here, the path correction values ​​take into account the elasticity, friction or inertia of the robot according to the dynamic robot model. In this case, rigid robot axes are assumed such that errors between the actual robot path and the intended robot path are produced only by mechanical springback in the respective joints between adjacent robot axes. This known robot control method therefore never takes into account the mechanical loads which occur in the individual robot axes, for example in the robot arms between two adjacent joi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1638G05B2219/39176G05B2219/39194
Inventor A·迈斯纳B·舍尔J·黑克尔V·施雷特林T·海泽尔
Owner DUERR SYST GMBH