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US 8,843,237 B2Granted
Method and device for controlling a manipulator
AssigneeKUKA Laboratories GmbH
InventorsAndreas Aurnhammer, Stefan Burkhart, Manfred Huttenhofer, Martin Weiss
Life of this patent
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Abstract
A method according to the invention for controlling a manipulator, in particular a robot, includes the following steps: determining (S10, S20) a target path (q(s)) of the manipulator, and determining (S70) a motion value (v(s)) for this target path, optionally, determining (S50) a path segment ([s_A, s_E]) with a defined profile of a motion value (v(s)=vc), and automatically determining (S60) this motion value on the basis of motion values (v_max_RB, v_max_vg) permissible in this path segment.
Claims15
A computer implemented method for controlling a robotic manipulator, comprising:
- determining a target path for the robotic manipulator, the target path having a starting point and an ending point;
- determining a permissible motion value profile for the target path;
- defining a path segment within the target path, the path segment having a starting point shifted in a direction of departure from the starting point of the target path, and an ending point shifted in a direction contrary to the direction of departure from the ending point of the target path;
- determining a motion value profile for the path segment within the target path, the motion value profile based on a ranged of permitted motion values for the path segment defined by the permissible motion value profile of the target path, and further determined based on a range of permitted derivative values of the motion value profile at one or both of the starting and ending points of the path segment;
- and
- causing the manipulator to traverse the path segment in accordance with the motion value profile.
3 more elements
A system for controlling a robotic manipulator, comprising:
- a path generating device determining a target path for the robotic manipulator, the target path having a starting point and an ending point, the path generating device defining a path segment within the target path, the path segment having a starting point shifted in a direction of departure from the starting point of the target path, and an ending point shifted in a direction contrary to the direction of departure from the ending point of the target path;
- a path analysis device determining a permissible motion value profile for the target path and determining a motion value profile for the path segment within the target path based on a range of permitted motion values for the path segment defined by the permissible motion value profile of the target path, the permissible motion value further determined based on a range of permitted derivative values of the motion value profile at one or both of the starting and ending points of the path segment;
- and
- a controller controlling the robotic manipulator to traverse the target path.
1 more element
A program product, comprising:
- a non-transitory computer-readable medium;
- and
- program code stored on the non-transitory computer readable medium and configured to control a robotic manipulator;
- the program code configured to determine a target path for the robotic manipulator;
- the program code further configured to determine a permissible motion value profile for the target path;
- the program code further configured to define a path segment within the target path, the path segment having a starting point shifted in a direction of departure from the starting point of the target path, and an ending point shifted in a direction contrary to the direction of departure from the ending point of the target path;
- the program code further configured to determine a motion value profile for the path segment within the target path, the motion value profile based on a range of permitted motion values for the path segment defined by the permissible motion value profile of the target path, and further determined based on a range of permitted derivative values of the motion value profile at one or both of the starting and ending points of the path segment;
- and
- the program code further configured to cause the manipulator to traverse the path segment in accordance with the motion value profile.
6 more elements
Dependencies are inferred from the claim text.