Method and device for stopping a manipulator
AssigneeKUKA Laboratories GmbH
InventorsAndreas Aurnhammer, Markus Eisensehr, Andreas Hagenauer, Manfred Huttenhofer
Life of this patent
Estimating the term…
Abstract
A method for stopping a manipulator includes the steps of advance simulation of stopping distances for different states and/or braking force profiles of the manipulator, estimating of an upper limit as the stopping distance on the basis of the stopping distances simulated in advance, monitoring a zone, and decelerating the manipulator when a zone is violated, wherein the monitored zone is defined variably during operation on the basis of the stopping distance of the manipulator.
Claims9
A method for controlling a robotic manipulator, comprising:
- during operation of the manipulator, establishing a boundary of a protected zone on the basis of a stopping distance value, wherein the stopping distance value varies as a function of dynamics of the robotic manipulator;
- monitoring the protected zone with a controller;
- and
- in response to the manipulator entering the protected zone, decelerating the manipulator.
A robotic manipulator, comprising:
- at least one movable arm;
- and
- a control, the control operative to:
- establish a protected zone proximate the robotic manipulator on the basis of a maximum stopping distance value of the at least one arm wherein the protected zone is varied, and the maximum stopping distance value varies as a function of dynamics of the manipulator,
- monitor the protected zone, and
- in response to the at least one arm entering the protected zone, decelerate the manipulator.
A program product, comprising:
- a non-transient computer-readable medium;
- and
- program code stored on the computer readable medium and configured to control a robotic manipulator;
- the program code configured to establish a boundary of a protected zone on the basis of a maximum stopping distance value during operation of the robotic manipulator, wherein the maximum stopping distance value varies as a function of dynamics of the robotic manipulator, and
- the program code further configured to monitor the protected zone and to decelerate the manipulator in response to the manipulator entering the protected zone.
Dependencies are inferred from the claim text.