Generating a control program for a robot manipulator
AssigneeFranka Emika GmbH
InventorsAndreas Spenninger, Jose Ramon Medina Hernandez
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Abstract
A method of generating a control program, wherein the method includes: executing an application by the first robot manipulator, at the same time, determining trajectory data and/or wrench data, determining robot commands from a stored time series, the robot commands being principal elements of the control program for the robot manipulator without relation to design conditions of a first robot manipulator, and generating the control program for a second robot manipulator based on the stored robot commands and based on the design conditions of the second robot manipulator.
Claims18
A method of generating a control program for a second robot manipulator based on empirical data from executing a predetermined application by a first robot manipulator, the method comprising:
- executing the predetermined application by the first robot manipulator;
- during execution of the predetermined application:
- determining time series of trajectory data by joint angle sensors of the first robot manipulator and/or time series of wrench data by a sensor unit of the first robot manipulator for detecting forces and/or torques, and storing the determined time series in a storage unit, the trajectory data comprising kinematic data relating to a reference point of the first robot manipulator or relating to the joint angles of the first robot manipulator, and the wrench data comprising forces and/or torques acting between the first robot manipulator and an object in the surroundings;
- determining robot commands from the stored time series, and storing the determined robot commands in the storage unit, the robot commands being principal elements of a control program for a respective robot manipulator without reference to design conditions of the first robot manipulator;
- and
- generating the control program for the second robot manipulator based on the stored robot commands and based on design conditions of the second robot manipulator.
A robot system to generate a control program for a second robot manipulator of the robot system based on empirical data from executing a predetermined application by a first robot manipulator of the robot system, the robot system comprising:
- a first control unit configured to:
- control the first robot manipulator to execute the predetermined application, and further designed to determine time series of trajectory data by joint angle sensors of the first robot manipulator and/or time series of wrench data by a sensor unit of the first robot manipulator during execution of the predetermined application and to store the determined time series in a storage unit, the trajectory data comprising kinematic data relating to a reference point of the first robot manipulator or relating to the joint angles of the first robot manipulator, the wrench data comprising forces and/or torques acting between the first robot manipulator and an object in the surroundings;
- and
- determine robot commands from the stored time series and to store the determined robot commands in the storage unit, the robot commands being principal elements of a control program for a respective robot manipulator without reference to design conditions of the first robot manipulator;
- and
- a second control unit configured to generate the control program for the second robot manipulator based on stored robot commands and based on design conditions of the second robot manipulator.
Dependencies are inferred from the claim text.