Control of a robot assembly
AssigneeKUKA Deutschland GmbH
InventorsFelix Allmendinger, Jan Bandouch, Günter Schreiber
Life of this patent
Estimating the term…
Abstract
A method for the control of a robot assembly having at least one robot. The method includes acquiring pose data from an object arrangement having at least one object, which data has a first time interval; determining modified pose data from the object arrangement, which data has a second time interval that is larger or smaller than the first time interval, or is equal to the first time interval, on the basis of the acquired pose data; and controlling the robot assembly on the basis of said modified pose data.
Claims16
A method for the control of a robot assembly having at least one robot to perform an operation on at least one object, the method comprising:
- detecting with a first sensor, first pose data of the at least one object, the first pose data comprising a first time interval;
- determining first modified pose data of the at least one object on the basis of the first detected pose data, the first modified pose data comprising a second time interval that is less than or greater than the first time interval, or equal to the first time interval;
- controlling the robot assembly on the basis of the first modified pose data;
- detecting second pose data of the at least one object, the second pose data comprising a third time interval that is chronologically parallel to the detection of the first pose data;
- determining second modified pose data of the at least one object on the basis of the second detected pose data, the second modified pose data comprising a fourth time interval that is less than or greater than the third time interval, or equal to the third time interval;
- and
- controlling the robot assembly on the basis of the second modified pose data;
- wherein at least one of the detected or modified first pose data and/or at least one of the detected or modified second pose data depend on an orientation of the at least one object;
- and
- wherein determining at least one of the first modified pose data or the second modified pose data comprises determining the at least one of the first or second modified pose data in such a manner that a rotation of the at least one object in a space between the first modified pose data or the second modified pose data is minimal.
A system for controlling a robot assembly having at least one robot to perform an operation on at least one object, the system comprising means for:
- detecting first pose data of the at least one object, the first pose data comprising a first time interval;
- determining first modified pose data of the at least one object on the basis of the first detected pose data, the first modified pose data comprising a second time interval that is less than or greater than the first time interval, or equal to the first time interval;
- controlling the robot assembly on the basis of the first modified pose data;
- detecting second pose data of the at least one object, the second pose data comprising a third time interval that is chronologically parallel to the detection of the first pose data;
- determining second modified pose data of the at least one object on the basis of the second detected pose data, the second modified pose data comprising a fourth time interval that is less than or greater than the third time interval, or equal to the third time interval;
- and
- controlling the robot assembly on the basis of the second modified pose data;
- wherein at least one of the detected or modified first pose data and/or at least one of the detected or modified second pose data depend on an orientation of the at least one object;
- and
- wherein determining at least one of the first modified pose data or the second modified pose data comprises determining the modified pose data in such a manner that a rotation of the at least one object in a space between the first modified pose data or the second modified pose data is minimal.
A computer program product for use in controlling a robot assembly having at least one robot to perform an operation on at least one object, the computer program product having program code stored in a non-transitory computer-readable medium that, when executed by a computer, causes the computer to:
- detect with a first sensor, first pose data of the at least one object, the first pose data comprising a first time interval;
- determine first modified pose data of the at least one object on the basis of the first detected pose data, the first modified pose data comprising a second time interval that is less than or greater than the first time interval, or equal to the first time interval;
- control the robot assembly on the basis of the first modified pose data;
- detect second pose data of the at least one object, the second pose data comprising a third time interval that is chronologically parallel to the detection of the first pose data;
- determine second modified pose data of the at least one object on the basis of the second detected pose data, the second modified pose data comprising a fourth time interval that is less than or greater than the third time interval, or equal to the third time interval;
- and
- control the robot assembly on the basis of the second modified pose data;
- wherein at least one of the detected or modified first pose data and/or at least one of the detected or modified second pose data depend on an orientation of the at least one object;
- and
- wherein determining at least one of the first modified pose data or the second modified pose data comprises determining the modified pose data in such a manner that a rotation of the at least one object in a space between the first modified pose data or the second modified pose data is minimal.
Dependencies are inferred from the claim text.