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US 2021/0268656 A1Published application
Method for controlling drives of a robot, and robot system
AssigneeSew-Eurodrive GmbH & Co. KG
InventorDominik MARTEN
Life of this patent
Estimating the term…
Abstract
In a method for operating a computer having a user interface, e.g., a graphical and/or interactive user interface, a robot, which has members, e.g., arms, rotatable relative to each other and a tool and/or a load, are displayed graphically. One of the members is selectable from an indicated set of members, and a value of an inertial characteristic, e.g., a value of the mass, of this member is able to be inputted. The value of the mass of the member, the position of the center of mass of the member, and both the magnitude and the direction of each of the principal axes of inertia of the selected member are displayed graphically.
Claims30
1-7. (canceled)
A method for controlling drives of a robot, comprising:
- moving an object by the robot along a trajectory with a velocity characteristic;
- moving a member by at least a first one of the drives of the robot, the first one of the drives including a torque controller, the member including partial members;
- supplying to the torque controller a sum of a precontrol value and a control output of a second controller as a setpoint torque value, the second controller arranged as a speed controller;
- determining the precontrol value from the velocity characteristic in view of mass of the partial members and inertia tensors of the partial members;
- to graphically check plausibility of a value of the mass, and to determine and graphically check plausibility of the inertia tensors with the aid of a user interface of a computer connected to a control system for data transmission:
- selecting a picture of a partial member from a predefined set of different, graphically portrayed partial members;
- and
- inputting the mass of the partial member represented by the picture;
- and
- graphically representing, with the aid of the user interface of the computer, the value of the mass and of components of the inertia tensor and transmitting the value of the mass and of the components of the inertial tensor to the control system.
7 more elements
A method for controlling drives of a robot, comprising:
- moving an object by the robot along a trajectory with a velocity characteristic;
- moving a member by at least a first one of the drives of the robot, the first one of the drives including a controller supplied with an actual torque value and a setpoint torque value calculated as a sum of a precontrol value and a control output of a second controller, the second controller being supplied an actual speed value and a setpoint speed value, the member including partial members;
- determining the precontrol value from the velocity characteristic in view of mass of the partial members and inertia tensors of the partial members;
- to graphically check plausibility of a value of the mass, and to determine and graphically check plausibility of the inertia tensors with the aid of a user interface of a computer connected to a control system for data transmission:
- selecting a picture of a partial member from a predefined set of different, graphically portrayed partial members;
- and
- representing the mass of the partial member by a picture being inputted;
- and
- with the aid of the user interface of the computer, graphically representing the value of the mass and of components of the inertia tensor, and transmitting the value of the mass and of the components of the inertial tensor to the control system.
6 more elements
A method for operating a computer having a user interface and/or having a graphical and/or interactive user interface, comprising:
- graphically displaying a robot having members rotatable relative to each other and a tool and/or a load;
- selecting one of the members from a displayed set of members;
- inputting a value of an inertial characteristic of the selected member;
- and
- graphically displaying a value of mass of the selected member, a position of a center of mass of the selected member, and both magnitude and direction of each principal axis of inertia of the selected member.
2 more elements
A robot system, comprising:
- a robot;
- a control system;
- and
- a computer including a user interface;
- wherein the robot system is adapted to perform:
- (a) a method for controlling drives of the robot, including:
- moving an object by the robot along a trajectory with a velocity characteristic;
- moving a member by at least a first one of the drives of the robot, the first one of the drives including a torque controller, the member including partial members;
- supplying to the torque controller a sum of a precontrol value and a control output of a second controller as a setpoint torque value, the second controller arranged as a speed controller;
- determining the precontrol value from the velocity characteristic in view of mass of the partial members and inertia tensors of the partial members;
- to graphically check plausibility of a value of the mass, and to determine and graphically check plausibility of the inertia tensors with the aid of a user interface of a computer connected to a control system for data transmission:
- selecting a picture of a partial member from a predefined set of different, graphically portrayed partial members;
- and
- inputting the mass of the partial member represented by the picture;
- and
- graphically representing, with the aid of the user interface of the computer, the value of the mass and of components of the inertia tensor and transmitting the value of the mass and of the components of the inertial tensor to the control system;
- and/or
- (b) a method for controlling drives of the robot, including:
- moving an object by the robot along a trajectory with a velocity characteristic;
- moving a member by at least a first one of the drives of the robot, the first one of the drives including a controller supplied with an actual torque value and a setpoint torque value calculated as a sum of a precontrol value and a control output of a second controller, the second controller being supplied an actual speed value and a setpoint speed value, the member including partial members;
- determining the precontrol value from the velocity characteristic in view of mass of the partial members and inertia tensors of the partial members;
- to graphically check plausibility of a value of the mass, and to determine and graphically check plausibility of the inertia tensors with the aid of a user interface of a computer connected to a control system for data transmission:
- selecting a picture of a partial member from a predefined set of different, graphically portrayed partial members;
- and
- representing the mass of the partial member by a picture being inputted;
- and
- with the aid of the user interface of the computer, graphically representing the value of the mass and of components of the inertia tensor, and transmitting the value of the mass and of the components of the inertial tensor to the control system.
24 more elements
Dependencies are inferred from the claim text.