Operating device for a manipulator
AssigneeKUKA Deutschland GmbH
InventorMartin Riedel
Life of this patent
Estimating the term…
Abstract
The present invention relates to an operating device for controlling or programming a manipulator. The manipulator has a plurality of degrees of freedom which are independent of each other. The operating device comprises a manual control lever which is configured to specify at least one two-dimensional movement of the manipulator. Preferably, the manual control lever is a joystick. The operating device also comprises an information display which is allocated to the manual control lever and comprises a plurality of independently controllable display segments. The operating device further comprises a control device which is configured to individually control the display segments of the information display.
Claims20
A method for using an operating device (10) for controlling or programming a manipulator (20) having a plurality of degrees of freedom which are independent from one another, the operating device having:
- a hand control lever (13), which is set up to provide a first input to specify at least one two-dimensional movement of the manipulator (20);
- an information indicator (14) set up to visually signal manipulator information to an operator of the operating device (10), wherein the information indicator (14) comprises a plurality of indicator segments which are able to be actuated independently from one another and wherein the indicator segments at least partially surround the hand control lever (13);
- an input ring (30) around the hand control lever (13) and which is able to be rotatably actuated by the operator in order to capture a second input from said operator, the input ring (30) being laterally accessible to said operator to be rotated around the hand control lever by said operator to provide said second input;
- and
- a control device which is set up to individually actuate the indicator segments of the information indicator (14) to signal the manipulator information,
- the method comprising:
- the operator controlling the current angle of the axis of the manipulator (20) by operating the hand control lever (13);
- actuating the indicator segments of the information indicator (14) to visually signal the manipulator information to the operator of the operating device (10);
- wherein:
- the manipulator information describes a current angle of an axis of the manipulator (20) and a limit angle of said axis;
- and
- the indicator segments are actuated so that the current angle of the axis and an admissible and inadmissible angle range of the axis are signaled to the operator.
A method for using an operating device (10) for controlling or programming a manipulator (20) having a plurality of degrees of freedom which are independent from one another, the operating device having:
- a hand control lever (13) for operation by a hand of an operator to order to capture a first input from said operator and which is set up to specify at least one two-dimensional movement of the manipulator (20);
- an input ring (30) around the hand control lever (13) and which is able to be rotatably actuated by the operator in order to capture a second input from said operator, the input ring (30) being laterally accessible to said operator to be rotated around the hand control lever by said operator to provide said second input;
- an information indicator (14) set up to visually signal manipulator information to an operator of the operating device (10), wherein the information indicator (14) comprises a plurality of indicator segments which are able to be actuated independently from one another and wherein the indicator segments at least partially surround the hand control lever (13);
- and
- a control device which is set up to individually actuate the indicator segments of the information indicator (14) to signal the manipulator information;
- wherein:
- an obstacle is in the environment of the manipulator (20), the method comprising:
- displaying on the information indicator, a region which is occupied by the obstacle.
A method for using an operating device (10) to controlling or program a manipulator (20) having a plurality of degrees of freedom which are independent from one another, the operating device having:
- a hand control lever (13) for operation by a hand of an operator to order to capture a first input from said operator and which is set up to specify at least one two-dimensional movement of the manipulator (20);
- an input ring (30) around the hand control lever (13) and which is able to be rotatably actuated by the operator in order to capture a second input from said operator, the input ring (30) being laterally accessible to said operator to be rotated around the hand control lever by said operator to provide said second input;
- an information indicator (14) set up to visually signal manipulator information to an operator of the operating device (10), wherein the information indicator (14) comprises a plurality of indicator segments which are able to be actuated independently from one another and wherein the indicator segments are arranged in a ring to at least partially surround the hand control lever (13);
- and
- a control device which is set up to individually actuate the indicator segments of the information indicator (14) to signal the manipulator information, the method comprising:
- the operator providing the first input to the hand control lever;
- and
- displaying on the information indicator via lighting the segments in different colors, a current value of a condition of the manipulator and additional information about the condition,
- wherein:
- the condition is an orientation;
- and
- the additional information indicates an admissible or inadmissible range of the orientation.
An operating device (10) for controlling or programming a manipulator (20) having a plurality of degrees of freedom which are independent from one another, having:
- a hand control lever (13) for operation by a hand of an operator to order to capture a first input from said operator and which is set up to specify at least one two-dimensional movement of the manipulator (20);
- an input ring (30) around the hand control lever (13) and which is able to be rotatably actuated by the operator in order to capture a second input from said operator, the input ring (30) being laterally accessible to said operator to be rotated around the hand control lever by said operator to provide said second input;
- an information indicator (14) set up to visually signal manipulator information to an operator of the operating device (10), wherein:
- the manipulator information is a current angle of an axis of the manipulator and an admissible or inadmissible angle range of the axis;
- the information indicator (14) comprises a plurality of indicator segments which are able to be actuated independently from one another;
- and
- the indicator segments at least partially surround the hand control lever (13);
- and
- a control device which is set up to individually actuate the indicator segments of the information indicator (14) to signal the manipulator information.
A method for using an operating device (10) to controlling or program a manipulator (20) having a plurality of degrees of freedom which are independent from one another, the operating device having:
- a hand control lever (13) for operation by a hand of an operator to order to capture a first input from said operator and which is set up to specify at least one two-dimensional movement of the manipulator (20);
- an input ring (30) around the hand control lever (13) and which is able to be rotatably actuated by the operator in order to capture a second input from said operator, the input ring (30) being laterally accessible to said operator to be rotated around the hand control lever by said operator to provide said second input;
- an information indicator (14) set up to visually signal manipulator information to an operator of the operating device (10), wherein the information indicator (14) comprises a plurality of indicator segments which are able to be actuated independently from one another and wherein the indicator segments are arranged in a ring to at least partially surround the hand control lever (13);
- and
- a control device which is set up to individually actuate the indicator segments of the information indicator (14) to signal the manipulator information, the method comprising:
- the operator providing the first input to the hand control lever;
- and
- displaying on the information indicator via lighting the segments in different colors, a current value of a condition of the manipulator and additional information about the condition wherein the condition is current angle of an axis of the manipulator and the additional information is an admissible or inadmissible angle range of the axis.
Dependencies are inferred from the claim text.