Method and Apparatus for Failure Handling of a Robot
AssigneeInfineon Technologies AG
InventorMichael Primessnig
Life of this patent
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Abstract
A method and apparatus for failure handling of a robot having at least a first and a second movement axis are disclosed. In one embodiment the method includes receiving a first position information of the first movement axis for a first point of time and a first position information of the second movement axis for the first point of time and storing the received first position information as a motion data set, receiving a second position information of the first movement axis for a second point of time and a second position information of the second movement axis for the second point of time and storing the received second position information in the motion data set and controlling the robot according to a failure procedure.
Claims26
A method for failure handling of a robot having at least a first and a second movement axis, the method comprising:
- receiving a first position information of the first movement axis for a first point of time and a first position information of the second movement axis for the first point of time and storing the received first position information as a motion data set;
- receiving a second position information of the first movement axis for a second point of time and a second position information of the second movement axis for the second point of time and storing the received second position information in the motion data set;
- and
- controlling the robot according to a failure procedure if a robot failure is detected, the failure procedure comprising:
- triggering the robot to move the first and second movement axis to its second positions;
- and
- triggering the robot to move the first and second movement axis to its first positions.
A computer readable digital storage medium having stored thereon a computer program having a program code for performing, when running on a computer, a method for failure handling of a robot having at least a first and a second movement axis, the method comprising:
- receiving a first position information of the first movement axis for a first point of time and a first position information of the second movement axis for the first point of time and storing the received first position information as motion data set;
- receiving a second position information of the first movement axis for a second point of time and a second position information of the second movement axis for the second point of time and storing the received second position information in the motion data set;
- and
- controlling the robot according to a failure procedure if a robot failure is detected, the failure procedure comprising:
- triggering the robot to move the first and second movement axis to its second positions;
- and
- triggering the robot to move the first and second movement axis to its first positions.
An apparatus for failure handling of a robot having at least a first and a second movement axis, the apparatus is configured to receive a position information of the first and the second movement axis of the robot, to store motion data using a memory and to control the robot if the robot causes a failure via control signals which are based on the stored motion data,
- wherein the stored motion data comprise a first position information of the first movement axis for a first point of time, a second position information of the first movement axis for a second point of time, a first position information of the second movement axis for the first point of time and a second position information of the second movement axis for the second point of time,
- wherein the control signals comprise a first control signal triggering the robot to move the first and second movement axis to its second positions and a second control signal triggering the robot to move the first and second movement axis to its first positions, and
- wherein the first control signal is output before outputting the second control signal such that the robot moves to the second position before moving to the first position.
A controller for controlling a robot having at least a first and a second movement axis, the controller is configured to control the first and the second movement axis according to a control algorithm and is configured to store motion data using a memory and to control the robot if the robot causes a failure via control signals which are based on the stored motion data,
- wherein the stored motion data comprise a first position information of the first movement axis for a first point of time, a second position information of the first movement axis for a second point of time, a first position information of the second movement axis for the first point of time and a second position information of the second movement axis for the second point of time,
- wherein the control signals comprise a first control signal triggering the robot to move the first and second movement axis to its second positions and a second control signal triggering the robot to move the first and second movement axis to its first positions, and
- wherein the first control signal is output before outputting the second control signal such that the robot moves to the second position before moving to the first position.
A robot, comprising:
- a first movement axis;
- a second movement axis;
- a controller for controlling the first and second movement axis;
- and
- an apparatus for failure handling, the apparatus is configured to store motion data using a memory and to control the robot if the robot causes a failure via control signals which are based on the stored motion data,
- wherein the stored motion data comprise a first position information of the first movement axis for a first point of time, a second position information of the first movement axis for a second point of time, a first position information of the second movement axis for the first point of time and a second position information of the second movement axis for the second point of time,
- wherein the control signals comprise a first control signal triggering the robot to move the first and second movement axis to its second positions and a second control signal triggering the robot to move the first and second movement axis to its first positions, and
- wherein the first control signal is output before outputting the second control signal such that the robot moves to the second position before moving to the first position.
Dependencies are inferred from the claim text.