Method, control system, and movement setting means for controlling the movements of articulated arms of an industrial robot

Abstract

The invention relates to a method for controlling the movements of articulated arms (21, 22, 23) of an industrial robot (2) using a movement setting means (3), wherein the movement setting means (3) is held by an operator in a predefined position relative to a reference mark (19, 19', 19") and the reference mark (19) is detected by the movement setting means and optionally read (16), and the distance (17) thereof to the reference mark is measured. The position and the alignment of the movement setting means (3) is detected by internal sensors (9), e.g. inertial / acceleration sensors, or by external sensors (30, 31, 32), e.g. 3D camera. Upon satisfying the coupling condition (25), the industrial robot or individual articulated arms thereof are coupled virtually to the movement setting meansand follow its movements, as if a fixed or rigid or flexible mechanical coupling had been established with respect to the industrial robot. In addition, a haptic feedback to the operator can be provided by a mechanical coupling of the movement setting means to an articulated arm of the industrial robot.

Description

technical field [0001] The invention relates to a method for controlling the motion of an articulated arm of an industrial robot, a control system for implementing the corresponding control method and a motion setting device that can be used in said control system, as stated in claim 1, As explained in 24 and 26. Background technique [0002] In the position training of robots, especially industrial robots, hand-held manipulators with buttons or joysticks are widely used prior art, with which the robot itself or the individual parts of the articulated arm of the robot can be Axis movement. Each point on the corresponding motion track is stored here, so that the corresponding motion track can be repeated many times in the following automatic operation. [0003] Another possibility for the learning and programming of robot kinematics is the direct manual guidance of the robot. According to a first embodiment, the end effector of the robot is then simply grasped by hand and ...

AI Technical Summary

Problems solved by technology

Therefore, frequent and quick repositioning of the points of action on the robot is likewise almost impossible and less user-friendly

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