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US 10,792,821 B2Granted
Method and device for decelerating a robot axis arrangement
AssigneeKUKA Deutschland GmbH
InventorsHartmut Keyl, Michael Thummel, Dietmar Tscharnuter, Tobias Weiser
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Abstract
A method for decelerating a robot axis arrangement having at least one output link includes steps of applying a braking force on the output link with a brake and, in so doing, controlling a driving force of a drive that acts on the output link, and/or controlling the braking force on the basis of a dynamic variable of the output link, wherein the dynamic variable is a function of the braking force.
Claims17
A method for decelerating a robot axis arrangement comprising at least one output link, the method comprising:
- applying a braking force on the output link with a brake;
- while applying the braking force, controlling a driving force of a drive that acts on the output link on the basis of a dynamic variable of the output link, wherein the dynamic variable depends on the braking force;
- wherein the drive at least temporarily is controlled to decelerate the output link in order to exert a braking effect;
- and
- wherein the braking force and the driving force are controlled in parallel branches or through parallel channels.
2 more elements
Dependencies are inferred from the claim text.