Method and device for controlling a manipulator
AssigneeKUKA Roboter GmbH
InventorsWolfgang Michel, Thomas Purrucker, Rene Rossig, Dietmar Tscharnuter
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Abstract
A method according to the invention for operating a manipulator, in particular a robot (1), includes the following steps: determining (S10) parameters (c′, c″) of an exactly positioned manipulator model (M) with various nominal loads (m′, m″); specifying parameters (c) of the manipulator model on the basis of which the manipulator is operated, depending on a payload (m) of the manipulator (S20); and operating the manipulator on the basis of the manipulator model (S30, S40).
Claims12
A method for operating a robot carrying a predetermined load using a dynamic model, comprising:
- determining a first set of parameters of the dynamic model based on a first nominal load;
- determining a second set of parameters of the dynamic model based on a second nominal load;
- and
- determining a third set of parameters of the dynamic model based on the first and second sets of parameters and based on the predetermined load;
- operating the robot based on the third set of parameters;
- and
- updating the third set of parameters based on kinetic and dynamic effects occurring during operation of the robot.
A robot comprising:
- a robot having a robot arm configured to carry a predetermined load;
- a controller operatively coupled to the robot for operating the robot when the robot arm is carrying the predetermined load, the controller being configured to store therein a dynamic model for operating the robot with the robot arm carrying the predetermined load, store therein a first set of parameters for operating the robot, the first set of parameters being based on a first nominal load, store therein a second set of parameters for operating the robot, the second set of parameters being based on a second nominal load, operate the robot based on the first and second sets of parameters and on a third set of parameters associated with the predetermined load, and
- update the third set of parameters based on kinetic and dynamic effects occurring during operation of the robot.
Dependencies are inferred from the claim text.