Control device and method for a manipulator
AssigneeKUKA Laboratories GmbH
InventorsChristian Sonner, Uwe Zimmermann
Life of this patent
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Abstract
In a method for controlling a manipulator, in particular a robot, a reference path is stored and reference increments are automatically determined while following the path the reference increments are determined based on the dynamics of the manipulator while following the path.
Claims17
A method for controlling a robotic manipulator, comprising the steps of:
- storing a reference path (rs[s(t)]);
- determining reference increments (Δqs[s(t)]) while following the path;
- and
- in a processor, automatically determining the reference increments are determined based on dynamics of the manipulator while following the path, and emitting a control signal at an output of the processor that controls movement of said manipulator with respect to said path.
A control device for a robotic manipulator comprising:
- a memory in which a reference path (rs[s(t)]) is stored;
- a processor having access to said memory, configured to determine reference increments (Δqs[s(t)]) while following the path;
- and
- said processor being configured to automatically determine the reference increments based on dynamics of the manipulator while following the path, and to emit a control signal at an output of the processor that controls movement of said manipulator with respect to said path.
A computer-readable medium encoded with programming instructions, said medium being loadable into a processor that controls a robotic manipulator, said processor having access to a memory in which a reference path for movement of said manipulator is stored, and said programming instructions causing said processor to:
- determine reference increments (Δqs[s(t)]) while following the path;
- and
- automatically determine the reference increments are determined based on dynamics of the manipulator while following the path, and emit a control signal at an output of the processor that controls movement of said manipulator with respect to said path.
Dependencies are inferred from the claim text.