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Process for moving a robot

A technology for robots and robot axes, applied in instruments, manipulators, general control systems, etc., can solve problems such as lack of reliability and accuracy, simulation that does not allow synchronization, etc.

Inactive Publication Date: 2007-07-04
库卡实验仪器有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] On the one hand, the existing technology does not allow the simulation of the synchronization of all movements, on the other hand, this synchronization lacks sufficient reliability and accuracy over the entire path

Method used

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  • Process for moving a robot
  • Process for moving a robot

Examples

Experimental program
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Embodiment Construction

[0022] Please refer to the drawings for details. In the exemplary embodiment shown below, the core component of the controller of the robot R according to the present invention is the so-called path table 1, which is considered by one or more program devices in consideration of the turntable pointer ( In the case of turntable index) 2 (that is, information on the position of the turntable), it is generated offline by the animation and simulation tool 3. The movement of the turntable is the movement around the main axis, and the robot moves around the main axis, such as centrifugal movement (as in the case of a carousel), while the movement of the robot axis (six axes in a traditional robot) depends on the main axis of the turntable. movement.

[0023] Instead of the turntable axis as the main axis, a linear axis can also be provided. Moreover, the basic motion can also be a more complex motion than a rotational motion around the main axis or a linear motion along the main axis; th...

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PUM

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Abstract

A process for moving a robot, the robot has a plurality of motion states and a plurality of axes of the robot for motion, the method comprises following steps: designating a motion state of the robot as a primary motion; and synchronizing motions of axes of the robot with the primary motion. Using the method can simulate the whole motion process of the robot, and can carry out reliable synchronization.

Description

Technical field [0001] The present invention relates to a method for operating a robot, especially a robot with joints (for example, an industrial robot with articulated arms). Background technique [0002] As a robot according to the EN ISO 8373 subsection 2.6 standard, it is basically controlled by position control or continuous path control, in which the movement process is programmed by teach-in programming or offline programming. Basically, by moving each axis to the reference point, to synchronize the different axes of the robot to be able to control the current position of the motor armature to be assigned to a joint angle, that is, displacement occurs at the reference position, where the joint coordinate increases The measured value of is suitable for robot control. Optionally, synchronize the external motion axis in the same way. [0003] On the one hand, the existing technology does not allow the simulation of synchronization of all motions. On the other hand, this sync...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/12B25J13/00
CPCG05B2219/40519G05B2219/50218G05B19/4142G05B2219/43174
Inventor 卡利德·米尔扎埃德·沃尔西奇延斯·邦森达尔彼得·克吕格尔
Owner 库卡实验仪器有限公司