Method And Device For Controlling A Manipulator
AssigneeKUKA Roboter GmbH
InventorsMartin Weiss, Christian Sonner
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Abstract
According to a method according to the invention for controlling a manipulator, in particular a robot (10), a planned path (z1(t)) of the manipulator is specified by a path generating device (1.1, 1.2, 1.3), a control path (z2(t)) is determined automatically on the basis of the planned path by a path conversion device (2), and the control path is traversed with the manipulator by a manipulator controller (3), with the path conversion device (2) determining curvature information (aij; t2(ti)) of the control path on the basis of curvature information (aij; t1(ti)) of the planned path.
Claims16
A method for controlling a manipulator, in particular a robot (10), having the following steps:
- specification of a planned path (z1(t)) of the manipulator by a path generating device (1.1, 1.2, 1.3);
- automatic determination of a control path (z2(t)) on the basis of the planned path by a path conversion device (2);
- and
- traversing of the control path with the manipulator by a manipulator controller (3), characterized in that
- the path conversion device (2) determines curvature information (aij;
- t2(ti)) of the control path on the basis of curvature information (aij;
- t1(ti)) of the planned path.
The method according to one of the preceding claims, characterized in that curvature information comprises tangent devices (t(ti)) and/or tangent changes
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- of the path.
The method according to one of the preceding claims, characterized in that curvature information comprises polynomial coefficients (aij), in particular polynomial coefficients of the first or a higher order.
The method according to one of the preceding claims, characterized in that curvature information comprises reference points.
The method according to one of the preceding claims, characterized in that the planned path and/or the control path are specified or determined as splines, in particular as cubic or higherdegree splines or as B splines.
The method according to one of the preceding claims, characterized in that the planned path and/or the control path are specified or characterized as Bézier curves.
The method according to one of the preceding claims, characterized in that the path conversion device determines curvature information of the control path optionally and/or by sections on the basis of curvature information of the planned path.
The method according to one of the preceding claims, characterized in that the control path is approximated while specifying a maximum deviation from the planned path.
The method according to one of the preceding claims, characterized in that a number of control points of the control path is changed, in particular reduced, compared to a number of control points of the planned path.
The method according to one of the preceding claims, characterized in that the planned path and/or the control path comprise a Cartesian path of a reference system (TCP) of the manipulator.
The method according to one of the preceding claims, characterized in that at least one control point is added to the planned path or to the control path, without the shape of the control path being changed.
A device for controlling a manipulator, in particular a robot (10), having:
- a path generating device (1.1, 1.2, 1.3) to specify a planned path (z1(t)) of the manipulator;
- a path conversion device (2) to automatically determine a control path (z2(t)) on the basis of the planned path;
- and
- a manipulator controller (3) to traverse the control path with the manipulator;
- characterized in that
- the path conversion device for carrying out a method is configured according to one of the preceding claims.
Dependencies are inferred from the claim text.