Method And Device For Decelerating A Robot Axis Arrangement
AssigneeKUKA Deutschland GmbH
InventorsHartmut Keyl, Michael Thummel, Dietmar Tscharnuter, Tobias Weiser
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Abstract
A method for decelerating a robot axis arrangement having at least one output link includes steps of applying a braking force on the output link with a brake and, in so doing, controlling a driving force of a drive that acts on the output link, and/or controlling the braking force on the basis of a dynamic variable of the output link, wherein the dynamic variable is a function of the braking force.
Claims18
A method for decelerating a robot axis arrangement comprising at least one output link, the method comprising:
- applying a braking force on the output link with a brake during deceleration of the output link;
- and
- controlling at least one of the braking force or a driving force of a drive that acts on the output link on the basis of a dynamic variable of the output link and a model of the robot axis arrangement, wherein the dynamic variable comprises at least one of a force or a movement variable.
A method for decelerating a robot axis arrangement comprising at least one output link, the method comprising:
- applying a braking force on the output link with a brake during deceleration of the output link;
- detecting a dynamic variable of the output link using a force sensor operatively connected to the output link;
- and
- controlling at least one of the braking force or a driving force of a drive that acts on the output link on the basis of the dynamic variable of the output link, wherein the dynamic variable comprises at least one of a force or a movement variable.
Dependencies are inferred from the claim text.