Method and system for controlling robots
AssigneeKUKA Roboter GmbH
InventorsStefan Graf, Andreas Hagenauer, Michael Chaffee
Life of this patent
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Abstract
The invention concerns a method and a system for controlling a first robot and at least one other robot, the at least one other robot being calibrated relative to the first robot by the determination of at least one coordinate transformation of the first robot relative to at least one other robot and said at least one transformation is stored in a control device of the other robot, wherein also the first robot is calibrated relative to the other robot by the determination of at least one independent coordinate transformation and said at least one independent transformation is stored in a control device of the first robot.
Claims20
Method for controlling a first robot (1) and at least one other robot (2), the at least one other robot (2) being calibrated relative to the first robot by the determination of at least one coordinate transformation (SF1-2) of the first robot relative to at least one other robot and said at least one transformation (SF1-2) is stored in a control device (2.1) of the other robot, wherein also the first robot (1) is calibrated relative to the other robot (2) by the determination of at least one independent coordinate transformation (SF2-1) and said at least one independent transformation (SF2-1) is stored in a control device of the first robot.
System for controlling a first robot (1) and at least one other robot (2) with at least one control means (1.1, 2.1) with a device (2.2) for calibrating at least one other robot (2) relative to the first robot (1) by determining at least one coordinate transformation (SF1-2) of the first robot (10 relative to the other robot (2) and with a memory means (2.3) in the control device (2.1) of the other robot (2) for storing said at least one transformation (SF1-2), having determination means (1.2) for calibrating the first robot (1) relative to the other robot (2) by determining at least one independent coordinate transformation (SF2-1) of at least one other robot (2) relative to the first robot (1) and by a memory means (1.3) in a control device (1.1) of the first robot (1) for storing at least one independent transformation (SF2-1).
A system for controlling plural robots for cooperative function, the system comprising:
- a first robot with an associated first robot memory and first robot control device;
- a second robot with an associated second robot memory and second robot control device;
- a device connected to the second robot for calibrating the second robot relative to the first robot by using measured second robot position coordinates to determine at least one first to second coordinate transformation of the known first robot position relative to the measured second robot position coordinates with the first to second coordinate transformation being stored in said second robot memory;
- a device connected to the first robot for calibrating the first robot relative to the second robot by using measured first robot position coordinates to determine at least one second to first coordinate transformation of the measured second robot position relative to the known first robot position coordinates with the second to first coordinate transformation being stored in said first robot memory.
Dependencies are inferred from the claim text.