Unlock instant, AI-driven research and patent intelligence for your innovation.

Method and group of manipulators to conditionally stop at least one manipulator on a trajectory

A manipulator and conditional technology, applied in the direction of instruments, robots, program-controlled manipulators, etc., can solve the problems of prolonged clock time and inability to achieve consistent trajectories, and achieve the effect of saving clock time

Active Publication Date: 2019-12-31
KUKA ROBOTER
View PDF9 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Here, too, the braking point must be chosen such that the stopping point is respected, which leads to an increase in the clock time
In addition, the trajectory during braking will deviate from the trajectory without braking, that is, the braking cannot achieve the same trajectory

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method and group of manipulators to conditionally stop at least one manipulator on a trajectory
  • Method and group of manipulators to conditionally stop at least one manipulator on a trajectory
  • Method and group of manipulators to conditionally stop at least one manipulator on a trajectory

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0048] figure 1 A manipulator set 1 is shown, comprising a manipulator 10 and a control device 20 . The manipulator 10 shown is designed to travel on a trajectory 100 defined as a spline. Trajectory 100 consists of point P 1 ,P 2 ,P 3 definition. The shown stopping point 101 lies on the trajectory 100 and defines the point at which the manipulator should or must be brought to a standstill if braking is required. The braking point 102 corresponds to the stopping point 101 . The position of the braking point 102 is calculated by the control device 20 from the speed of the manipulator 10; that is, the braking point is not given fixedly, but is dependent on the speed of the manipulator. Braking point 102 is the point at which braking is initiated when braking is required.

[0049] figure 2 An exemplary trajectory 100 of the manipulator 10 is schematically shown, which is defined by the point P 1 ,P 2 ,P 3 Defined as a spline. Furthermore, a diagram is shown in which t...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

A method for the conditional stopping of at least one manipulator and a manipulator assembly. The manipulator travels along a path which has a stopping point. In order to be able to stop the manipulator at the stopping point, a braking point on the path is calculated as a function of a speed of the manipulator. If the status of a travel condition variable necessitates braking of the manipulator in the event of exceeding the braking point, the manipulator is braked.

Description

technical field [0001] The invention relates to a method and a group of manipulators for conditionally stopping at least one manipulator on a trajectory. The method and the manipulator set can be used, for example, in industrial applications in which a programmed trajectory can only be completely traversed when defined driving conditions are fulfilled. Background technique [0002] There are industrial applications (eg press linkages, protective fields) in which the manipulator can only travel completely over the programmed trajectory if defined travel conditions (eg press opening) are fulfilled. The manipulator can only travel up to a certain stopping point if the driving conditions are not met. The manipulator must be completely still, ie stopped, at the stopping point. The manipulator waits at the stop until the driving conditions are met. A stop of the manipulator is therefore a complete braking of all axes of the manipulator. The manipulator stops when the velocitie...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/416
CPCG05B19/4166G05B2219/41279B25J9/1664G05B2219/39097G05B2219/39098Y10S901/02Y10S901/09B25J9/1674B25J19/0004
Inventor 霍尔格·特龙尼尔京特·韦德曼斯蒂芬·布尔卡特安德烈亚斯·奥恩哈默曼弗雷德·许滕霍弗
Owner KUKA ROBOTER