Procedure and control means for controlling a robot
AssigneeKUKA Roboter GmbH
InventorUwe Bonin
Life of this patent
Estimating the term…
Abstract
A method for controlling a robot that has a plurality of articulation axes, with at least one axis that includes a drive mechanism for moving the axis and a holding brake for limiting movement of the axis. The method includes closing the holding brake and at least one of opening the holding brake after the closing step based on an axial load, or opening the holding brake for a specified duration. In addition, or alternatively, closing of the holding brake may be delayed for a period of time. The holding brake may be closed in response to the detection of a monitoring-related condition of the robot.
Claims27
A method for controlling a robot having a controller and a plurality of articulation axes, with at least one axis that includes a drive mechanism for moving the axis and a holding brake for limiting movement of the axis, the method comprising the controller performing:
- closing the holding brake;
- and
- at least one of:
- opening the holding brake after the closing step based on an axial load and/or opening the holding brake for a specified duration, or
- delaying the closure of the holding brake for a period of time.
A robot arrangement, comprising:
- a robot, in particular an articulated arm robot having a plurality of articulation axes, with at least one axis having a drive mechanism and a holding brake;
- and a controller that controls the robot, the controller including program code stored on a non-transitory storage medium that, when executed by the controller, causes the controller to:
- close the holding brake, and
- at least one of:
- open the holding brake after the closing step based on an axial load and/or opening the holding brake for a specified duration, or
- delay the closure of the holding brake for a period of time;
- wherein the holding brake is opened after the closing step if the axial load or a deviation of the axial load from a specified load exceeds a specified limit value and/or the axial load is acting in a specified load direction;
- and
- wherein the holding brake is opened after the closing step if the axial load is acting in a pose-dependent and/or gravitational force-related load direction.
A computer program product, comprising:
- a non-transitory computer-readable medium;
- program code stored on the non-transitory computer-readable medium and configured to control a robot having a plurality of articulation axes with at least one axis that includes a drive mechanism for moving the axis and a holding brake for limiting movement of the axis, the program code directing a robot controller to:
- close the holding brake;
- and
- at least one of:
- open the holding brake after the closing step based on an axial load and/or opening the holding brake for a specified duration, or
- delay the closure of the holding brake for a period of time.
Dependencies are inferred from the claim text.