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Method and system for operating a multi-axis machine, in particular a robot

A robot and machine controller technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as increasing the computational cost of safety controllers, and achieve the effect of ensuring safe operation

Active Publication Date: 2016-08-17
KUKA ROBOTER
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The disadvantage is that this increases the computational effort in the safety controller

Method used

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  • Method and system for operating a multi-axis machine, in particular a robot
  • Method and system for operating a multi-axis machine, in particular a robot

Examples

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Embodiment Construction

[0067] figure 1 Shown is a facility with a robot and a system for operating the robot according to one embodiment of the invention, said robot at figure 1 Only two drivers 23, 33 are briefly shown in the representation, figure 2 A method for operating the robot according to one embodiment of the invention is shown, which is carried out by a system designed for this purpose in terms of software and hardware.

[0068] The system has a machine controller 10 with drive regulators 13A, 13B which control the drives 23 , 33 .

[0069] The system also has a safety controller with a first channel 100 and a redundant, in particular multi-redundant, second channel 200 thereto, which monitor the robots.

[0070] In the first step S10 (see figure 2 ), the device 11 of the machine controller 10 determines the target reference position value x for the TCP of the robot based on a preset control program, in particular by means of trajectory planning and / or interpolation.

[0071] From th...

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PUM

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Abstract

A method for operating a multiple axis machine includes controlling drives of the machine with a machine control system and monitoring the machine with a fail-safe control system having first and second redundant channels. Each of the first and second channels receives first input target values and first input actual values from the machine control system, and compares first reference target values (based on the first input target values) with first reference actual values (based on the first input actual values). A fault reaction is triggered if there is a deviation between the compared values that exceeds a specified tolerance. The first input target values comprise the (target) reference position values of a machine-fixed reference of the machine and / or first and / or higher time derivatives thereof; and the first input actual values comprise the (actual) reference position values of the machine-fixed reference of the machine and / or first and / or higher time derivatives thereof; and the machine control system determines these target reference position values and / or these actual reference position values on the basis of a transformation between the reference position values of the machine-fixed reference and the axial position values of the machine.

Description

technical field [0001] The invention relates to a method and a system for operating a multi-axis machine, in particular a robot, an installation with a robot and the system, and a computer program product for carrying out the method. Background technique [0002] It is known from internal company practice that the actual reference position values ​​of machine-fixed reference objects, such as TCP, are compared with preset limit values ​​in the safety controller, for example to monitor the working space of the robot. Here, the safety controller is based on a so-called feed-forward transformation from the detected actual shaft position values To determine these actual reference object position values. [0003] A disadvantage is that this increases the computational effort in the safety controller. Furthermore, there must be a model on which the feed-forward transformation is based, and this model must be adapted when the kinematics of the machine change. [0004] On the oth...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/163B25J9/1653B25J9/1674G05B2219/34484G05B2219/42306G05B2219/34235G05B19/402
Inventor 海因里希·蒙茨J·莱宾格
Owner KUKA ROBOTER