Control of a robot
AssigneeKUKA Deutschland GmbH
InventorsMatthias Rohmer, Martin Mueller-Sommer, Marc-Walter Ueberle, Gunter Schreiber, Uwe Bonin
Life of this patent
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Abstract
A method for controlling a robot having a drive arrangement with at least one drive includes determining an actual velocity of the robot, determining a target velocity for the robot, and determining a damping drive parameter based on a difference between the target velocity and the actual velocity. The target velocity is determined based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a first distance of the robot from at least one predetermined boundary. The drive arrangement of the robot is then controlled based on the damping drive parameter.
Claims14
A method for controlling a robot having a controller and a drive arrangement with at least one drive, the method comprising:
- determining an actual velocity of the robot;
- determining a target velocity for the robot;
- determining a damping drive parameter based on a difference between the target velocity and the actual velocity;
- and
- controlling the drive arrangement with the controller based on the damping drive parameter;
- wherein the target velocity is determined based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a distance of the robot from at least one predetermined boundary;
- wherein the damping drive parameter is determined to be zero when the magnitude of the target velocity exceeds the magnitude of the actual velocity.
A system for controlling a robot having a drive arrangement with at least one drive, the system comprising:
- means for determining an actual velocity of the robot;
- means for determining a target velocity for the robot based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a distance of the robot from at least one predetermined boundary;
- means for determining a damping drive parameter based on a difference between the target velocity and the actual velocity;
- and
- means for controlling the drive arrangement based on the damping drive parameter;
- wherein the damping drive parameter is determined to be zero when the magnitude of the target velocity exceeds the magnitude of the actual velocity.
A computer programming product for controlling a robot having a controller and a drive arrangement with at least one drive, the computer programming product including a program code stored on a non-transitory, computer-readable medium that, when executed by the controller, causes the controller to:
- determine an actual velocity of the robot;
- determine a target velocity for the robot;
- determine a damping drive parameter based on a difference between the target velocity and the actual velocity;
- and
- control the drive arrangement based on the damping drive parameter;
- wherein the target velocity is determined based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a first distance of the robot from at least one predetermined boundary;
- wherein the damping drive parameter is determined to be zero when the magnitude of the target velocity exceeds the magnitude of the actual velocity.
Dependencies are inferred from the claim text.