Industrial Robot And Method For Programming An Industrial Robot
AssigneeKUKA Roboter GmbH
InventorUwe Zimmermann
Life of this patent
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Abstract
The invention relates to an industrial robot and a method for programming an industrial robot, for which the industrial robot is guided manually to a virtual surface (25) in the room, at which point the industrial robot is selected such that it cannot be guided any further manually. Next, that force (F) and/or torque acting on the industrial robot when an attempt is made to guide the industrial robot further manually is ascertained and stored, despite reaching the virtual surface (25).
Claims12
A method for programming an industrial robot, having the following procedural steps:
- manually guiding an industrial robot to a virtual surface (25) in space, upon arrival at which the industrial robot is actuated so that it cannot be guided any further manually,
- determining the force (F) and/or the torque that acts on the industrial robot when an attempt is made to guide the industrial robot further manually despite its having reached the virtual surface (25), and
- storing the force (F) and/or torque.
An industrial robot that is set up to be guided manually, having
- a robot arm (M) with a flange (26) and a plurality of axes (1-6) that are movable by drives (11-16),
- a control device (17) that is set up to actuate the drives (11-16) to move the axes (1-6), and when the industrial robot is guided manually, to actuate the drives (11-16) when a virtual surface (25) in space is reached, in such a way that the industrial robot cannot be guided further manually, and
- means (23) for determining a force and/or torque, which are set up to determine the force (F) and/or torque that acts on the industrial robot when an attempt is made to continue guiding the industrial robot manually despite its having reached the virtual surface (25), the control device (17) being set up to store the force (F) and/or torque.
Dependencies are inferred from the claim text.