Manipulator system for the coordinated control of at least two manipulators
AssigneeKUKA Roboter GmbH
InventorGünter SCHREIBER
Life of this patent
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Abstract
A manipulator system for the coordinated control of at least two manipulators. The system includes a main computer that is configured for carrying out a sequence control, and at least two multiaxial manipulators. A manipulator controller and at least one axis controller are associated with each manipulator. The manipulator controllers are spatially separate from the main computer and set up in their own housings. Each manipulator preferably includes converters for controlling the actuators of the axes of the manipulator, wherein the converter associated with an actuator is situated in the vicinity of the actuator in such a way that the converter can be moved along with a movement of the associated manipulator.
Claims20
A manipulator system for the coordinated control of at least two manipulators, comprising:
- a main computer that is configured for carrying out a sequence control,
- at least two multiaxial manipulators, and
- at least two manipulator controllers,
- wherein each one of the at least two manipulator controllers is associated with one of the at least two manipulators, the manipulator controllers each being spatially separate from the main computer and in its own housing, and wherein
- each multiaxial manipulator includes a plurality of converters for controlling actuators associated with each of a plurality axes of the multiaxial manipulator, wherein
- the converter associated with each actuator is situated in the vicinity of the actuator in such a way that the converter can be moved along with a movement of the manipulator.
A manipulator system for the coordinated control of at least two manipulators, comprising:
- a main control device that is associated with a first one of the at least two manipulators and that includes a sequence control unit configured for carrying out a sequence control, wherein:
- the main control device includes a command switch, a first manipulator controller, and a first axis controller, wherein the command switch is configured for sending commands of the sequence control unit to a first manipulator controller, and
- the first manipulator controller is configured for sending commands for controlling axes of the first manipulator to a first axis controller, and the first axis controller is configured for converting commands for controlling the axes into commands to be executed by converters for controlling actuators associated with the axes of the first manipulator, and
- at least one secondary control device which is associated with the second of the at least two manipulators, wherein:
- the least one secondary control device is spatially separate from the main control device, is set up in its own housing, and has an independent power supply, wherein
- the at least one secondary control device includes a second manipulator controller, and
- the command switch of the main control device is configured for sending commands of the sequence control unit to the second manipulator controller, and the second manipulator controller is configured for sending commands for controlling axes of the second manipulator to a second axis controller of the second manipulator, and the second axis controller is configured for converting commands for controlling the axes into commands to be executed by converters for controlling actuators associated with axes of the second manipulator.
A manipulator system for the coordinated control of at least two manipulators, comprising
- at least two subordinate main control devices, wherein:
- one of the at least two manipulators is associated with each main control device, and each main control device is configured for carrying out a sequence control of the manipulator that is associated with the main control device,
- each of the main control devices includes a manipulator controller and an axis controller,
- the manipulator controllers are each configured for sending commands for controlling axes of the manipulator associated with a respective one of the main control devices to the axis controller of the one main control device, and the axis controller is configured for converting commands for controlling the axes into commands to be executed by converters for controlling actuators associated with axes of the manipulator, and
- the subordinate main control devices are spatially separate from one another, are set up in each case in their own housing, and in each case have an independent power supply, and
- a coordination control device that is spatially separate from the subordinate main control devices, is set up in its own housing, and has an independent power supply, wherein the coordination control device is configured for coordinating the sequence control of the at least two manipulators in such a way that a program sequence of the sequence controls takes place in a predetermined manner.
Dependencies are inferred from the claim text.