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US 9,393,687 B2Granted
Method for programming an industrial robot and industrial robot
AssigneeKUKA Roboter GmbH
InventorsGerhard Hietmann, Philipp Wullner
Life of this patent
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Abstract
A method for programming an industrial robot includes moving a manipulator arm of the industrial robot manually (hand guided) into at least one pose in which at least one control variable, which is to be entered in a robot program, is recorded by a control device of the industrial robot and is saved as a parameter of an associated program instruction in the robot program. In another aspect, an industrial robot includes a robot control unit which is designed and/or configured to carry out such a method.
Claims14
A method for programming an industrial robot with a control device, comprising:
- actuating drives of a manipulator arm of the industrial robot with the control device to facilitate manual movement of the manipulator arm;
- manually moving and guiding the manipulator arm of the industrial robot by touching contact by an operator with the manipulator arm into at least one pose;
- selecting a program instruction from a plurality of available program instructions, to which parameters are to be saved;
- continuously recording and buffering with the control device at least one control variable, which is to be entered in a robot program, in predefined time steps during the manually guided movement of the manipulator arm;
- continuously recording with the control device at least one position-related variable and/or at least one motion-related variable of respective instantaneous poses of the manipulator arm in predefined time steps during the manually guided movement of the manipulator arm;
- comparing the position-related and/or motion-related variables, which are recorded in predefined time steps, with predefined position-related and/or motion-related variables, which represent a termination criterion;
- wherein the termination criterion is a characteristic motion of the manipulator arm or a characteristic standstill of the manipulator arm that is interpreted by the control device as a command to enter the control variable as a parameter of the selected program instruction;
- and
- saving one of the control variables as a parameter of the selected program instruction in the robot program, when one of the continuously recorded position-related and/or motion-related variables satisfies the termination criterion.
6 more elements
An industrial robot comprising
- a manipulator arm and a robot control device,
- wherein the manipulator arm includes at least three joints that are manually moved and guided by touching contact with the manipulator arm by an operator into at least one pose,
- the robot control device including a non-transitory computer readable storage medium including program code that, when executed by the robot control device, causes the robot control device to:
- actuate drives of the manipulator arm of the industrial robot to facilitate manual movement of the manipulator arm;
- continuously record and buffer at least one control variable, which is to be entered into a robot program, in predefined time steps during the manually guided movement of the manipulator arm;
- continuously record at least one position-related and/or motion-related variable of respective instantaneous poses of the manipulator arm in the predefined time steps during the manually guided movement of the manipulator arm;
- compare the position-related and/or motion-related variables, which are recorded in the predefined time steps, with predefined position-related and/or motion-related variables, which represent a termination criterion;
- wherein the termination criterion is a characteristic motion of the manipulator arm or a characteristic standstill of the manipulator arm that is interpreted by the control device as a command to enter the control variable as a parameter of the selected program instruction;
- and
- save one of the control variables as a parameter of the selected program instruction in the robot program, when one of the continuously recorded position-related and/or motion-related variables satisfies the termination criterion.
7 more elements
Dependencies are inferred from the claim text.