Method and control means for controlling a robot assembly
AssigneeKUKA Deutschland GmbH
InventorManfred Hüttenhofer
Life of this patent
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Abstract
A method for controlling a robot assembly having at least one robotic arm. The method includes determining a trajectory in the axis space of the robot assembly on the basis of a path having a plurality of previously specified Cartesian poses of at least one robot-assembly-fixed reference, and determining control values in the axis space on the basis of said trajectory. The robot assembly is controlled on the basis of the control values.
Claims13
A method for controlling a robot assembly comprising at least one robot arm, the method comprising:
- determining a path of at least one reference fixed to the robot assembly from a plurality of Cartesian poses that are specified in advance;
- prior to each traveling of the complete path, determining a first trajectory that accounts for position and orientation in an axis space of the robot assembly based on the path;
- determining first control values in the axis space based on the determined first trajectory;
- and
- controlling operation of the robot assembly based on the determined first control values.
Control means for controlling a robot assembly that includes at least one robot arm, the control means configured to:
- determine a path of at least one reference fixed to the robot assembly from a plurality of Cartesian poses that are specified in advance;
- prior to each traveling of the complete path, determine a first trajectory that accounts for position and orientation in an axis space of the robot assembly based on the path;
- determine first control values in the axis space based on the first trajectory;
- and
- control operation of the robot assembly based on the first control values.
A computer program product for controlling a robot assembly that includes at least one robot arm, the computer program product comprising program code stored on a non-transitory, computer-readable medium, the program code, when executed by a computer, causing the computer to:
- determine a path of at least one reference fixed to the robot assembly from a plurality of Cartesian poses that are specified in advance;
- prior to each traveling of the complete path, determine a first trajectory that accounts for position and orientation in an axis space of the robot assembly based on the path;
- determine first control values in the axis space based on the determined first trajectory;
- and
- control operation of the robot assembly based on the determined first control values.
Dependencies are inferred from the claim text.