Industrial Robot Tending A Machine And A Method For Controlling An Industrial Robot Tending A Machine
OwnerRaoul Audibertinventor
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Abstract
An industrial robot for tending a machine includes a machine part providing a repetitive sequence of movements. The robot includes a robot controller having a program storage for storing a path of programmed positions for the robot and a path of programmed positions for the machine part, and a motion planner configured to plan the motion of the robot and the motion of the machine part based on the programmed positions for the robot and the machine part such that the motion of the robot and the motion of the machine part are coordinated with each other.
Claims19
An industrial robot for tending a machine including a machine part providing a repetitive sequence of movements, the robot including a robot controller comprising a program storage for storing a path of programmed positions for the robot and a path of programmed positions for the machine part, and a motion planner configured to plan the motion of the robot and the motion of the machine part based on the programmed positions for the robot and the machine part such that the motion of the robot and the motion of the machine part are coordinated with each other, characterized in that the motion planner is configured to calculate expected positions of the machine part along the path based on the planned motion of the machine part, and the robot controller is configured to receive information on actual positions of the machine part, to compare the actual positions with the expected positions of the machine part, and to generate a signal to slow down or stop the motion of the machine part when the actual position is ahead of the expected position of the machine part.
A method for controlling an industrial robot tending a machine including a machine part providing a repetitive sequence of movements, the method comprising:
- storing a path of programmed positions for the robot and a path of programmed positions for the machine part,
- planning the motion of the robot and the motion of the machine part based on the programmed positions for the robot and the machine part such that the motion of the robot and the motion of the machine part are coordinated with each other, characterized in that the method further comprises repeatedly:
- calculating an expected position for the machine part based on the planned motion of the machine part,
- receiving information on the actual position of the machine part,
- comparing the actual position of the machine part with the expected position, and
- generating a signal to slow down or stop the motion of the machine part if the actual position is ahead of the expected position of the machine part.
Dependencies are inferred from the claim text.