EP 2747956 A1 20140702 - CONTROL METHOD FOR A ROBOT
Title (en)
CONTROL METHOD FOR A ROBOT
Title (de)
STEUERVERFAHREN FÜR EINEN ROBOTER
Title (fr)
PROCÉDÉ DE COMMANDE POUR UN ROBOT
Publication
Application
Priority
- DE 102011111758 A 20110824
- EP 2012003515 W 20120817
Abstract (en)
[origin: WO2013026554A1] The invention relates to a control method for a robot (1) having a plurality of movable robot axes (2, 4, 6), in particular for a painting robot (1) or a manipulating robot, comprising the following steps: (a) predetermining a robot path by means of a plurality of path points through which a reference point of the robot (1) is intended to travel; (b) controlling drive motors of the individual robot axes (2, 4, 6) according to the predetermined robot path, such that the reference point of the robot (1) travels through the predetermined robot path; (c) precalculating the mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2) that occurs within at least one of the robot axes (2, 4, 6) between two joints when travelling through the robot path ahead; and also (d) adjusting the control of the drive motors of the robot axes (2, 4, 6) on the basis of the precalculated mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2), such that a mechanical overload is avoided.
IPC 8 full level
B25J 9/16 (2006.01)
CPC (source: CN EP US)
B25J 9/1638 (2013.01 - CN EP US); G05B 2219/39176 (2013.01 - CN EP US); G05B 2219/39194 (2013.01 - CN EP US)
Citation (search report)
See references of WO 2013026554A1
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
DOCDB simple family (publication)
DE 102011111758 A1 20130228; CN 103826807 A 20140528; CN 103826807 B 20170510; EP 2747956 A1 20140702; JP 2014524359 A 20140922; JP 6236388 B2 20171122; MY 167478 A 20180829; US 2015057798 A1 20150226; US 9937619 B2 20180410; WO 2013026554 A1 20130228
DOCDB simple family (application)
DE 102011111758 A 20110824; CN 201280046380 A 20120817; EP 12750532 A 20120817; EP 2012003515 W 20120817; JP 2014526412 A 20120817; MY PI2014700389 A 20120817; US 201214238824 A 20120817