Manipulator system for coordinated control of at least two manipulators

A technology of manipulators and controllers, applied in the field of manipulator systems, can solve problems such as high costs, achieve the effects of reducing coordination costs, strengthening protection, and reducing system computing capabilities

Active Publication Date: 2021-03-02
KUKA ROBOTER
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

this leads to high costs

Method used

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  • Manipulator system for coordinated control of at least two manipulators
  • Manipulator system for coordinated control of at least two manipulators
  • Manipulator system for coordinated control of at least two manipulators

Examples

Experimental program
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Embodiment Construction

[0056] exist Figure 1 to Figure 3 In particular, system components, which are preferably implemented in software, are represented as rounded rectangles. System components, preferably implemented in hardware, are represented as pointed rectangles.

[0057] figure 1 A manipulator system 100 is shown, the construction of which substantially corresponds to the manipulator system claimed in the present invention. The manipulator system 100 is used for coordinated control of at least two manipulators 101 , 102 . The manipulators 101 , 102 shown are multi-axis manipulators having at least three axes. In general, such multi-axis manipulators 101 , 102 have at least six axes. But due to figure 1 It is schematic and therefore not all axes of the manipulators 101, 102 are shown.

[0058] Each axis of the manipulators 101, 102 is equipped with an actuator (not shown) which can be steered by means of a converter 103a, 103b, 103c, 104a, 104b, 104c. The number of converters used is...

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Abstract

The invention relates to a manipulator system for the coordinated control of at least two manipulators, the manipulator system comprising a host computer which is designed to carry out a process control. The manipulator system also includes at least two multi-axis manipulators, wherein each manipulator is equipped with a manipulator controller and preferably at least one axis controller, the manipulator controller being spatially separated from the main computer, respectively set in its own shell. Preferably, each manipulator comprises a converter for manipulating the actuator of the shaft of the manipulator, wherein the converter associated with the actuator is arranged in the vicinity of the actuator so that the converter can be manipulated Follow up when the device moves.

Description

technical field [0001] The invention relates to a manipulator system for coordinated control of at least two manipulators. Such coordinated control of at least two manipulators is used in applications where several manipulators should be made to cooperate in order to achieve a common purpose, for example in industrial production lines. Background technique [0002] In robotics, a manipulator is considered a device that physically cooperates with its surroundings. According to EN ISO 8373, an industrial robot is a self-guided, multipurpose manipulator equipped with three or more freely programmable axes of motion, which is used in industrial applications in a stationary or mobile manner. They guide grippers, tools (end effectors) or workpieces, etc. [0003] Axes of motion (axes) are guided limbs that are driven independently of each other. In a manipulator, these axes are used to generate defined motions to position and orient objects. The joints of the manipulator are d...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1682G05B2219/41295B25J9/0084G05B19/418
Inventor 京特·施赖伯
Owner KUKA ROBOTER
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