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AssigneeKuka Schwessanlagen & Roboter GmbH
InventorsHeinz Worn, Dietmar Schmid
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The present invention pertains to a process and a system for controlling the movements of an axis on program-controlled machines, especially industrial robots, comprising a position control unit and/or a velocity control unit and/or a power control unit. The loads acting on the axis from the outside during the operation are measured by one or several sensors. The load signal is fed back regeneratively in the sense of an increase in the position control variance and sent to the summation point of the position and/or velocity control unit. To increase or decrease the mechanical flexibility of the axis, a controllable amplifying or attenuating device is provided. The sensors may have different designs, corresponding to the loads to be measured. They are preferably directly associated with the axes.
A process for controlling an axis on a programmed-control machine, the process comprising the steps of:
A control system for a moveable axis on a program-controlled machine, the system comprising:
A process for incorporating mechanical flexibility into a control system of an axis of a programmed controlled machine, the process comprising the steps of:
Dependencies are inferred from the claim text.