Method and device for controlling a peripheral component of a robot system
AssigneeKUKA Deutschland GmbH
InventorJohannes Kurth
Life of this patent
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Abstract
In a method according to the invention for controlling a peripheral component (1) of a robot system (2), a power output, in particular a force, of the peripheral component is adjusted on the basis of an ascertained force (F1; m3g+m3d(x3)2/dt2), said force acting dependent on at least one robot pose, in particular a robot path (x3(t)).
Claims21
A method for controlling a peripheral component operatively associated with a robot of a robot system, the method comprising:
- determining at least one pose of the robot of the robot system;
- setting a power of the peripheral component with a controller on the basis of a determined force which acts dependent on the at least one determined robot pose, the determined force being determined in advance based on a model which represents movement dynamics of the robot system, the power of the peripheral component is adjusted during an operation of the determined force which varies depending on at least one robot path;
- wherein:
- the power of the peripheral component is set on the basis of the determined force when no override signal is present such that power consumption by the peripheral component is minimized;
- the power of the peripheral component is set to a predefined value when an override signal is present;
- and
- moving the peripheral component with the robot, controlled by the controller, while the power is set.
A device for controlling a peripheral component operatively associated with a robot of a robot system, comprising:
- a setting and computing means for setting a power of the peripheral component,
- wherein the device includes program code stored on a non-transitory storage medium that, when executed by the device, causes the device to:
- determine at least one pose of the robot of the robot system;
- set a power of the peripheral component with the setting and computing means on the basis of a determined force which acts dependent on the at least one determined robot pose, a power of the peripheral component with a controller on the basis of a determined force which acts dependent on the at least one determined robot pose, the determined force being determined in advance based on a model which represents movement dynamics of the robot system, the power of the peripheral component is adjusted during an operation of the determined force which varies depending on at least one robot path;
- and
- move the peripheral component with the robot while the power is set;
- wherein:
- the power of the peripheral component is set on the basis of the determined force when no override signal is present such that power consumption by the peripheral component is minimized, and
- the power of the peripheral component is set to a predefined value when an override signal is present.
A computer comprising a non-transitory storage medium including program code that, when executed by the computer, causes the computer to:
- determine at least one pose of a robot of a robot system;
- specify a power of a peripheral component operatively associated with the robot of the robot system on the basis of a determined force which acts dependent on the at least one determined robot pose, wherein the at least one determined robot pose is defined by at least one robot path, the determined force being determined in advance based on a model which represents movement dynamics of the robot system, the power of the peripheral component is adjusted during an operation of the determined force which varies depending on the at least one robot path;
- wherein:
- the power of the peripheral component is set on the basis of the determined force when no override signal is present such that power consumption by the peripheral component is minimized, and
- the power of the peripheral component is set to a predefined value when an override signal is present;
- and
- move the peripheral component with the robot, while the power is set.
Dependencies are inferred from the claim text.