Computer controller for an industrial multiaxis robot
AssigneeSiemens Aktiengesellschaft
InventorsRichard Bartelt, Christof Meier
Life of this patent
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Abstract
An optimum velocity controller having absolute track faithfulness for linear track motions of articulated robots having several axes of motion. If at least one velocity reference value of an axis of motion exceeds an assigned limit, the velocity of the predetermined total motion of the track is reduced. In order to obtain a stable control behavior of the robot, an additional velocity reduction of the track motion is executed for each of the individual axes of motion within predetermined range limits. The boundaries of these range limits are selected according to the respective velocity and/or acceleration of the robot along the track.
Claims4
A computer controller for an industrial multiaxis robot, in which the motion of the robot tip along a track given in fixed coordinates is transformed into corresponding velocity reference values for drives in the individual axes, comprising:
- means having said velocity reference values as inputs for reducing the track velocity of the predetermined overall motion of the robot until none of the velocity reference values exceeds a limit associated with that reference value if at least one velocity reference value of one axis exceeds its associated limit;
- and
- further means having at least one of said velocity reference values as an input and coupled to said means for reducing the track velocity for reducing the velocity of the overall motion in predetermined position ranges of at least one of the individual axes;
- limits of said predetermined position ranges and the reduction of the velocity being dependent on at least one of the respective track velocity and track acceleration.
Dependencies are inferred from the claim text.