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US 2011/0224815 A1Published application
Industrial Robot And Path Planning Method For Controlling The Movement Of An Industrial Robot
AssigneeKUKA Roboter GmbH
InventorsChristian Sonner, Martin Weiss, Uwe Zimmermann
Life of this patent
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Abstract
The invention relates to an industrial robot (1) and to a path planning method for controlling the movement of an industrial robot (1), on the robot arm (2) of which an effector, particularly a remote laser welding device (9), is mounted, said effector being provided for the processing of process points at a predetermined distance (f) to a first defined point (8a) of the industrial robot (1).
Claims12
A path planning method for controlling the motion of an industrial robot (1), to whose robot arm (2) an effector, in particular a remote laser welding device (9), is attached, which is provided for processing process points at a variable distance (f) from a first designated point (8a) of the industrial robot (1), having the following procedural steps:
- production of first transformed programmed points, from programmed points which each describe the positions of axes (A1-A6) of the industrial robot (1) or are expressed in coordinates that describe the position of the first designated point (8a) assigned to the industrial robot (1), the first transformed programmed points being expressed in coordinates that specify the corresponding positions of a second designated point (6) assigned to the industrial robot (1),
- production of second transformed programmed points (12) from the programmed points and the corresponding intervals (f), the second transformed programmed points (12) being expressed in coordinates that describe the respective positions,
- planning of a first path (14), on the basis of the first transformed programmed points, on which the second designated point (6) is to move,
- planning of a second path (15), on the basis of the second transformed points (12), independently of the planning of the first path (14),
- defining a parameter (3) for each programmed point that describes a degree of freedom of the industrial robot (1) with attached effector (9), and
- moving the axes (A1-A6) of the industrial robot (1), with attention to the relevant parameter (13), in such a way that the second designated point (6) moves on the first planned path (14), and adjusting the effector so that the process points move on the second planned path (15).
3 more elements
A path planning method for controlling the motion of an industrial robot (1), to whose robot arm (2) an effector, in particular a remote laser welding device (9), is attached, which is provided for processing process points (12) at a variable distance (f) from a first designated point (8a) of the industrial robot (1), having the following procedural steps:
- production of transformed programmed points, from programmed points which are each expressed in coordinates that describe the position of the process points (12) and the corresponding intervals (f) oriented to the first designated point (a), the transformed programmed points being expressed in coordinates that specify the corresponding positions of a second designated point (6) assigned to the industrial robot (1),
- planning of a first path (14), on the basis of the transformed programmed points, on which the second designated point (6) is to move,
- planning of a second path (15), independently of the planning of the first path (14) and on the basis of the programmed points, on which the process points (12) are to move,
- defining a parameter (13) for each programmed point that describes a degree of freedom of the industrial robot (1) with attached effector (9), and
- moving the axes (A1-A6) of the industrial robot (1), with attention to the relevant parameter (β), in such a way that the second designated point (6) moves on the first planned path (14), and adjusting the effector so that the process points move on the second planned path (15).
2 more elements
An industrial robot, having
- a robot arm (2) with a plurality of axes (A1-A6), to which a first designated point (8a) is assigned,
- an effector attached to the robot arm (2), in particular a remote laser welding device (9) attached to the robot arm (2), which is provided for processing process points at a changeable distance (F) from the first designated point (8a), and
- a control device (10), which is set up
- to move the plurality of axes (A1-A6),
- to produce first transformed programmed points, from programmed points which each describe the positions of the axes (A1-A6) or are expressed in coordinates that describe the positions of the first designated point (8a), the first transformed programmed points being expressed in coordinates that specify the corresponding positions of a second designated point (6) assigned to the industrial robot (1),
- to plan a first path (14) on the basis of the first planned programmed points, on which the second designated point (6) is to move,
- to produce second transformed programmed points (12) from the programmed points and the corresponding intervals (f), the second transformed programmed points (12) being expressed in coordinates that describe the respective positions,
- to plan a second path (15), on the basis of the second transformed points (12), independently of the planning of the first path (14), and
- to move the axes (A1-A6) of the industrial robot (1), with attention to a parameter (3) that describes a degree of freedom of the industrial robot (1) with attached effector (9) for each programmed point, so that the second designated point (6) moves on the first planned path (14), and to adjust the effector so that the process points move on the second planned path (15).
6 more elements
An industrial robot, having
- a robot arm (2) with a plurality of axes (A1-A6), to which a first designated point (8a) is assigned,
- an effector attached to the robot arm (2), in particular a remote laser welding device (9) attached to the robot arm (2), which is provided for processing process points (12) at a changeable distance (f) from the first designated point (8a), and
- a control device (10), which is set up
- to move the plurality of axes (A1-A6),
- to produce transformed programmed points, from programmed points which are each expressed in coordinates that describe the positions of the process points (12) and the corresponding intervals (f) oriented to the first designated point (8a), the transformed programmed points being expressed in coordinates that specify the corresponding positions of a second designated point (6) assigned to the industrial robot (1),
- to plan a first path (14), on the basis of the transformed programmed points, on which the second designated point (6) is to move,
- to plan a second path (15), independently of the planning of the first path (14) and on the basis of the programmed points (12), on which the process points are to move,
- to define a parameter (β) for each programmed point that describes a degree of freedom of the industrial robot (1) with attached effector (9),
- to move the axes (A1-A6) of the industrial robot, with attention to the relevant parameter (β), in such a way that the second designated point (6) moves on the first planned path (14), and to adjust the effector so that the process points move on the second planned path (15).
6 more elements
Dependencies are inferred from the claim text.