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Method for controlling a manipulator for carrying out a working process

A technology of working process and manipulator, applied in the field of manipulator system, can solve problems such as cycle time loss

Inactive Publication Date: 2017-12-01
KUKA ROBOTER
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this has the disadvantage that the manipulator is idle in certain work cycles, since the manipulator can only be driven, for example, into its final position for the work process after acquiring process data.
[0006] A further disadvantage of this method is that, especially in the case of very large process data sets for an operating point and very short travel times to the next operating point (this is common in assembly and production in the industrial sector), would result in too great a cycle time loss
In addition, certain position-related information from the process controller cannot be supplied to the trajectory planning of the manipulator in good time during the preparation phase for the next approach point

Method used

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  • Method for controlling a manipulator for carrying out a working process
  • Method for controlling a manipulator for carrying out a working process

Examples

Experimental program
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Embodiment Construction

[0027] Such as figure 1As shown, in a first step S1 a number of working points to be approached by the manipulator are provided. These operating points are preferably provided to a process controller arranged on the Host-PC. The process controller is designed to communicate with the manipulator's manipulator controller, which is typically a manipulator manufacturer's proprietary system that is separate from the process controller. A work point is for example a specific spatial coordinate at which a manipulator will perform certain work processes, such as setting up a welding point. In step S2, the manipulator approaches the working point A n . For this purpose, the manipulator controller receives, for example, the spatial coordinates of the working point from the process controller and calculates in advance a certain trajectory plan, which is automatically used by the manipulator. In step S3, the manipulator controller checks that at work point A n Is there a next working...

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Abstract

The invention relates to a method for controlling at least one manipulator for carrying out a working process which is controlled by a process controller and comprises the steps of providing one or more working points to be approached by the manipulator, approaching a working point (An) by the manipulator, checking whether a subsequent working point (An+1) is present and, if a subsequent working point (An+1) is present, retrieving one or more data sets for the subsequent working point (An+1) while the working process is being carried out at the working point(An).

Description

technical field [0001] The invention generally relates to a method for controlling at least one manipulator carrying out a work process and a manipulator system for carrying out such a method. Background technique [0002] Manipulators, in particular articulated arm robots, for example, are used in various work processes in assembly or production in industrial environments. Accordingly, at least one manipulator is controlled by a manipulator controller, and the working process or process flow is controlled by a process controller. [0003] A known sequence of work procedures is, for example, approaching a work point set in trajectory planning with a manipulator. When a working point is reached, the program for the working process is brought into the sequence, for example by the process controller, and is correspondingly executed by the manipulator or an end effector or tool located on the manipulator. [0004] At the start of a work process, the process data for the corres...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16G05B2219/40432B25J9/1664B25J9/1679B25J11/007G05B2219/36417G05B2219/45135
Inventor B·施蒂梅尔
Owner KUKA ROBOTER