Method And Device For Controlling An Auxiliary Tool Axis Of A Tool Being Guided By A Manipulator
AssigneeKUKA Roboter GmbH
InventorsChristian Sonner, Günther Wiedemann
Life of this patent
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Abstract
According to a method according to the invention for operating an additional tool axis (Z) of a tool (2) guided by a manipulator, in particular a robot (1), a position and/or an orientation of the tool in space are defined by axis positions (q1-q6) of the manipulator axes and a position value (f) of the tool axis, are saved and/or displayed, with an automatic conversion being carried out between the position value (f) and an axis position (e) of the tool axis which brings it about.
Claims15
A method for operating an additional tool axis (Z) of a tool (2) guided by a manipulator, in particular a robot (1), having the steps:
- defining a position and/or orientation of the tool in space by axis positions (q1-q6) of the manipulator axes, and
- defining, saving and/or displaying a position value (f) of the tool axis,
- characterized by an automatic conversion between the position value (f) and an axis position (e) of the tool axis which brings it about.
The method according to one of the preceding claims, characterized in that the automatic conversion is carried out while the manipulator is in operation.
The method according to one of the preceding claims, characterized in that the position value (f) is dependent in a non-linear way on the axis position (e) which brings it about.
The method according to one of the preceding claims, characterized in that the position value (f) is independent of the axis positions (q1-q6) of the manipulator axes.
The method according to one of the preceding claims, characterized in that the position value (f) comprises a value in cartesian space, in particular a distance of a working point (F) or an orientation of a working line.
The method according to one of the preceding claims, characterized in that the conversion depends on a tool parameter (λ).
The method according to one of the preceding claims, characterized in that the conversion depends on the tool, and that to this end a tool parameter (λ) is specified or the tool guided by the manipulator is recognized automatically.
The method according to one of the preceding claims, characterized in that optionally the position value (f) or the axis position (e) of the tool axis which brings it about is defined, saved and/or displayed.
The method according to one of the preceding claims, characterized in that the axis position (e) of the tool axis is monitored.
The method according to one of the preceding claims, characterized in that the manipulator has at least six manipulator axes.
The method according to one of the preceding claims, characterized in that the tool has a laser head, in particular a remote laser head (2).
A control device (10) for a manipulator, in particular for a robot (1), for controlling the axis positions (q1, . . . q6, e) of the manipulator axes and of an additional tool axis,
- characterized in that
- the control device for carrying out a method is configured according to one of the preceding claims.
Dependencies are inferred from the claim text.