Method and device for controlling a manipulator
AssigneeKUKA Laboratories GmbH
InventorsMartin Weiss, Christian Sonner
Life of this patent
Estimating the term…
Abstract
According to a method according to the invention for controlling a manipulator, in particular a robot (10), a planned path (z1(t)) of the manipulator is specified by a path generating device (1.1, 1.2, 1.3), a control path (z2(t)) is determined automatically on the basis of the planned path by a path conversion device (2), and the control path is traversed with the manipulator by a manipulator controller (3), with the path conversion device (2) determining curvature information (aij; t2(ti)) of the control path on the basis of curvature information (aij; t1(ti)) of the planned path.
Claims13
A method for controlling a robotic manipulator, comprising:
- obtaining a planned path for the robotic manipulator with a path generating device;
- converting the planned path into a control path for the robotic manipulator with a path conversion device, wherein the control path includes curvature information that is determined on the basis of curvature information of the planned path;
- and
- controlling the robotic manipulator to traverse the control path with a controller,
- wherein the planned path further comprises a plurality of sections, and wherein converting the planned path into the control path comprises determining the curvature information of the control path on the basis of the curvature information of only fewer than all of the plurality of sections of the planned path;
- and
- wherein there is a deviation of the curvature information between the planned path and the control path, and wherein the planned path and the control path arrive at the same destination.
A system for controlling a robotic manipulator, comprising:
- a path generating device specifying a planned path for the robotic manipulator;
- a path conversion device automatically determining a control path on the basis of the planned path, the conversion device determining curvature information of the control path on the basis of curvature information of the planned path;
- and
- a controller controlling the robotic manipulator to traverse the control path,
- wherein the planned path further comprises a plurality of sections, and wherein converting the planned path into the control path comprises determining the curvature information of the control path on the basis of the curvature information of only fewer than all of the plurality of sections of the planned path;
- and
- wherein there is a deviation of the curvature information between the planned path and the control path, and wherein the planned path and the control path arrive at the same destination.
A program product, comprising:
- a computer-readable medium;
- and
- program code stored on the computer readable medium and configured to control a robotic manipulator;
- the program code configured to obtain a planned path for the robotic manipulator;
- the program code further configured to convert the planned path into a control path for the robotic manipulator, wherein curvature information of the control path that is determined on the basis of curvature information of the planned path;
- and
- the program code further configured to control the robotic manipulator to traverse the control path;
- wherein the planned path further comprises a plurality of sections, and wherein converting the planned path into the control path comprises determining the curvature information of the control path on the basis of the curvature information of only fewer than all of the plurality of sections of the planned path;
- and
- wherein there is a deviation of the curvature information between the planned path and the control path, and wherein the planned path and the control path arrive at the same destination.
Dependencies are inferred from the claim text.