Method for controlling a manipulator system
AssigneeKUKA Roboter GmbH
InventorYevgen KOGAN
Life of this patent
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Abstract
A method for controlling a manipulator system including a manipulator, several drives and a mobile platform. A first converter for actuating at least two of the several drives is associated with the manipulator system. The method includes the steps of: a) identifying one of the drives of the manipulator system that is associated with the first converter and that must be used to travel over a current planned movement path of the manipulator system, and (b) actuating the one identified associated drive by means of the first converter, where the actuated drive is for the manipulator system to travel over the planned movement path. One of the at least two drives that is not being actuated is stationary preferably fixed or secured by a mechanical brake.
Claims13
A method for controlling a manipulator system including several drives and a first converter for actuating at least two of the several drives, the method comprising the steps of:
- a) identifying one or more of the several drives that must be used to travel over a planned movement path of the manipulator system;
- b) checking whether the one or more identified drives that must be used to travel over the planned movement path of the manipulator system are connected to and being supplied with current by the first converter, and switching the first converter to connect to one of the one or more identified drives that is not connected to and supplying current to the identified drive;
- and
- c) actuating the one or more connected, identified drives of the first converter in order to travel over the planned movement path of the manipulator system.
A manipulator system comprising:
- a manipulator control device;
- at least one manipulator comprising several drives, the drives including electric motors;
- and
- a first converter configured to actuate at least two of the several drives of the manipulator system,
- wherein the manipulator control device is configured to:
- a) identify one or more of the several drives that must be used to travel over a planned movement path of the manipulator system, b) check whether the one or more identified drives are connected to and being supplied with current by the first converter, c) switch the first converter to connect to one of the one or more identified drives that is not connected to and supplying current to the identified drive, and d) actuate the one or more connected, identified drives connected to the first converter in order to travel over the planned movement path of the manipulator system.
Dependencies are inferred from the claim text.