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US 10,780,587 B2Granted
Operating device for controlling or programming a manipulator
AssigneeKUKA Roboter GmbH
InventorMartin Riedel
Life of this patent
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Abstract
An operating device for controlling or programming a manipulator with six degrees of freedom that can be controlled independently from one another. The operating device includes three input arrangements which are each configured to specify a movement of the manipulator along an x-axis, y-axis or z-axis of the manipulator, and to specify a rotation of the manipulator about the x-axis, y-axis or z-axis of the manipulator. The three input arrangements are thereby respectively aligned along one of three main axes of the operating device.
Claims18
An operating device for controlling or programming a manipulator with six degrees of freedom that can be controlled independently from one another, having:
- a first input arrangement which is configured to specify a movement of the manipulator along an x-axis of the manipulator, and to specify a rotation of the manipulator about the x-axis of the manipulator, wherein the first input arrangement is aligned along a first main axis of the operating device;
- a second input arrangement which is configured to specify a movement of the manipulator along a y-axis of the manipulator, and to specify a rotation of the manipulator about the y-axis of the manipulator, wherein the second input arrangement is aligned along a second main axis of the operating device;
- and
- a third input arrangement which is configured to specify a movement of the manipulator along a z-axis of the manipulator, and to specify a rotation of the manipulator about the z-axis of the manipulator, wherein the third input arrangement is aligned along a third main axis of the operating device,
- wherein the x-axis, y-axis, and z-axis of the manipulator are orthogonal to one another,
- wherein the main axes of the operating device are substantially at right angles to one another, and
- wherein the first, second, and third input arrangements each comprise an operable movement specification element for specifying the movement of the manipulator and an operable rotation specification element for specifying the rotation of the manipulator, each operable movement specification element and operable rotation specification element operating independently to control one of the six degrees of freedom of the manipulator.
4 more elements
A manipulator system, comprising:
- a manipulator having six degrees of freedom that can be controlled independently from one another;
- and
- an operating for controlling or programming the manipulator, the operating device comprising:
- a first input arrangement which is configured to specify a movement of the manipulator along an x-axis of the manipulator , and to specify a rotation of the manipulator about the x-axis of the manipulator, wherein the first input arrangement is aligned along a first main axis of the operating device;
- a second input arrangement which is configured to specify a movement of the manipulator along a y-axis of the manipulator, and to specify a rotation of the manipulator about the y-axis of the manipulator, wherein the second input arrangement is aligned along a second main axis of the operating device;
- and
- a third input arrangement which is configured to specify a movement of the manipulator along a z-axis of the manipulator, and to specify a rotation of the manipulator about the z-axis of the manipulator, wherein the third input arrangement is aligned along a third main axis of the operating device,
- wherein the x-axis, y-axis, and z-axis of the manipulator are orthogonal to one another,
- wherein the main axes of the operating device are substantially at right angles to one another, and
- wherein the first, second, and third input arrangements each comprise an operable movement specification element for specifying the movement of the manipulator and an operable rotation specification element for specifying the rotation of the manipulator, each operable movement specification element and operable rotation specification element operating independently to control one of the six degrees of freedom of the manipulator.
7 more elements
Dependencies are inferred from the claim text.