Method and system for simulating a braking operation of a robot
AssigneeKUKA Deutschland GmbH
InventorsDietmar Tscharnuter, Uwe Bonin, Oliver Klaffenbach, Thomas Rohrer
Life of this patent
Estimating the term…
Abstract
A method for simulating a braking operation of a robot wherein a dynamic model of the robot is used to determine, for a given initial state of the robot, a final state range with a plurality of possible final states of the robot as a result of the simulated braking operation.
Claims10
A method for simulating a braking operation of a robot, the method comprising:
- determining a final state range of the robot out of a plurality of possible final states based on an initial state and a simulated braking operation using a dynamic model of the robot;
- wherein the final state range comprises a standstill pose range defining a plurality of possible standstill poses of the robot;
- wherein the standstill pose range is predicted based on:
- a movement pose of the robot during the simulated braking operation in which the robot is still moving, and
- a specified map that associates different movement poses with standstill pose ranges, each standstill pose range having a plurality of possible standstill poses;
- specifying, during the simulated braking operation, a variation range for at least one parameter of the dynamic model;
- and
- controlling at least one of a drive or a brake of the robot based on the simulated braking operation.
A system for simulating a braking operation of a robot, the system comprising:
- a robot controller configured to simulate the braking operation of the robot by determining a final state range of the robot out of a plurality of possible final states based on an initial state and a simulated braking operation using a dynamic model of the robot;
- wherein the final state range comprises a standstill pose range defining a plurality of possible standstill poses of the robot;
- wherein the standstill pose range is predicted based on:
- a movement pose of the robot during the simulated braking operation in which the robot is still moving, and
- a specified map that associates different movement poses with standstill pose ranges, each standstill pose range having a plurality of possible standstill poses;
- the robot controller further configured to specify, during the simulated braking operation, a variation range for at least one parameter of the dynamic model, and to control at least one of a drive or a brake of the robot based on the simulated braking operation.
A computer program product comprising a program code stored on a non-transitory, computer-readable medium, the program code, when executed on a computer, causing the computer to:
- determine a final state range of a robot out of a plurality of possible final states based on an initial state and a simulated braking operation using a dynamic model of the robot;
- wherein the final state range comprises a standstill pose range defining a plurality of possible standstill poses of the robot;
- wherein the standstill pose range is predicted based on:
- a movement pose of the robot during the simulated braking operation in which the robot is still moving, and
- a specified map that associates different movement poses with standstill pose ranges, each standstill pose range having a plurality of possible standstill poses;
- specify, during the simulated braking operation, a variation range for at least one parameter of the dynamic model;
- and
- control at least one of a drive or a brake of the robot based on the simulated braking operation.
Dependencies are inferred from the claim text.