Method and apparatus for implementing a manipulator process
AssigneeKUKA Roboter GmbH
InventorJosef Hofmann
Life of this patent
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Abstract
A method for executing a manipulator process with at least two manipulator poses with a manipulator, in particular a robot, wherein the manipulator comprises at least one drive means having a motor and a brake, comprising the steps of: (S10) Assuming a manipulator pose; (S20) Stopping at least one drive means; (S30) Closing at least one brake of this drive means; (S40) Reduction of the energy supply to the drive means; (S50) Increasing the energy supply to the drive means; (S60) Opening the closed brake; (S70) Assuming another manipulator pose.
Claims15
A method for performing a manipulator process, which comprises at least two manipulator poses, by a manipulator, in particular a robot, which comprises at least one drive means having a motor and a brake, comprising the steps of:
- Assuming a manipulator pose;
- Stopping at least one drive after reaching the manipulator pose;
- Closing at least one brake of this drive;
- Reducing the energy supply to the drive;
- determining whether a pause duration has lapsed after reducing energy supply to the drive;
- Increasing the energy supply to the drive;
- Opening the closed brake;
- and
- Assuming another manipulator pose.
An apparatus for controlling a manipulator, in particular a robot, the apparatus comprising a storage medium including program code that, when executed by the apparatus, causes the apparatus to:
- move the manipulator to assume a manipulator pose;
- stop at least one drive after reaching the manipulator pose;
- close at least one brake of the drive;
- reduce the energy supply to the drive;
- determine whether a pause duration has lapsed after reducing energy supply to the drive;
- increase the energy supply to the drive;
- open the closed brake;
- and
- move the manipulator to assume another manipulator pose.
A computer program product having programming code stored on a non-transitory machine-readable data medium, the programming code configured to, when executed by a computer, cause the computer to:
- move a manipulator to assume a manipulator pose;
- stop at least one drive after reaching the manipulator pose;
- close at least one brake of the drive;
- reduce the energy supply to the drive;
- determine whether a pause duration has lapsed after reducing energy supply to the drive;
- increase the energy supply to the drive;
- open the closed brake;
- and
- move the manipulator to assume another manipulator pose.
Dependencies are inferred from the claim text.