Method And Device For Controlling A Manipulator
AssigneeKUKA Roboter GmbH
InventorsAndreas Aurnhammer, Stefan Burkhart, Manfred Hüttenhofer, Martin Weiss
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Abstract
A method according to the invention for controlling a manipulator, in particular a robot, includes the following steps: determining (S10, S20) a target path (q(s)) of the manipulator, and determining (S70) a motion value (v(s)) for this target path, optionally, determining (S50) a path segment ([s_A, s_E]) with a defined profile of a motion value (v(s)=vc), and automatically determining (S60) this motion value on the basis of motion values (v_max_RB, v_max_vg) permissible in this path segment.
Claims14
A method for controlling a manipulator, in particular a robot, having the following steps:
- determining (S10, S20) a target path (q(s)) of the manipulator, and
- determining (S70) a motion value (v(s)) for this target path,
- characterized by these steps:
- optionally, determining (S50) a path segment ([s_A, s_E]) with a defined profile of a motion value (v(s)=vc), and automatically determining (S60) this motion value on the basis of motion values (v_max_RB, v_max_vg) permissible in this path segment.
The method according to one of the preceding claims, characterized in that the defined profile of the motion value is linear, in particular constant.
The method according to one of the preceding claims, characterized in that an extreme of permissible motion values is determined as the automatically determined motion value.
The method according to one of the preceding claims, characterized in that the automatically determined motion value is determined on the basis of the minimum of maximum permissible motion values in the path segment and/or of the maximum of minimum permissible motion values in the path segment.
The method according to one of the preceding claims, characterized in that motion values permitted in the path segment are determined on the basis of a kinematic or dynamic model
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The method according to one of the preceding claims, characterized in that the target path is determined in the working space and/or joint configuration space of the manipulator.
The method according to one of the preceding claims, characterized in that the target path is determined on the basis of spline functions.
The method according to one of the preceding claims, characterized in that the path segment ([s_A, s_E]) is determined on the basis of defined points (Pi, Pj) of the target path.
The method according to one of the preceding claims, characterized in that an output occurs, in particular optionally, when the automatically determined motion value deviates from a predefined motion value.
The method according to one of the preceding claims, characterized in that a motion value (v(s)) for the target path is optimized outside of the particular path segment ([s_A, s_E]) on the basis of permissible motion values.
A device for controlling a manipulator, in particular a robot, having:
- an apparatus for determining a target path (q(s)) of the manipulator, and
- an apparatus for determining a motion value (v(s)) for this target path,
- characterized in that
- the apparatus for determining a motion value for the target path is set up to carry out a method according to one of the preceding claims.
Dependencies are inferred from the claim text.