Method for controlling a robot
AssigneeKUKA Roboter GmbH
InventorsMarc-Walter Ueberle, Hartmut Keyl
Life of this patent
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Abstract
A method for controlling a robot includes monitoring the robot, and carrying out a fault reaction, selected from a number of specified fault reactions, on the basis of the monitoring of the robot, wherein the fault reaction is selected on the basis of a monitoring of an operational capability and/or an output variable of at least one motor of the robot.
Claims18
A method for controlling a robot, the method comprising:
- monitoring at least one of an operational capability of, or an output variable that is developed by, at least one motor of the robot;
- and
- carrying out a fault reaction, wherein the fault reaction is selected from a plurality of specified fault reactions on the basis of the monitoring of the robot;
- wherein the plurality of specified fault reactions comprises:
- at least one motor-active fault reaction, wherein the at least one motor of the robot is actuated, and
- at least one motor-passive fault reaction, wherein the at least one motor of the robot is not actuated.
Controller for controlling a robot, the controller comprising:
- a first monitoring component configured for monitoring the robot;
- a second monitoring component configured for monitoring at least one of an operational capability or an output variable of at least one motor of the robot;
- a fault reaction component configured for carrying out a fault reaction on the basis of the monitoring of the robot, the fault reaction selected from a plurality of specified fault reactions;
- and
- a selection component configured for selecting the fault reaction on the basis of the monitoring of the at least one of an operational capability of or an output variable that is developed by at least one motor of the robot;
- wherein the plurality of specified fault reactions comprises:
- at least one motor-active fault reaction, wherein the at least one motor of the robot is actuated, and
- at least one motor-passive fault reaction, wherein the at least one motor of the robot is not actuated.
A robot, comprising:
- a plurality of drive motors;
- and
- a controller for controlling the drive motors, the controller comprising:
- a first monitoring component configured for monitoring the robot,
- a second monitoring component configured for monitoring at least one of an operational capability or an output variable of at least one of the drive motors,
- a fault reaction component configured for carrying out a fault reaction on the basis of the monitoring of the robot, the fault reaction selected from a plurality of specified fault reactions, and
- a selection component configured for selecting the fault reaction on the basis of the monitoring of the at least one of an operational capability of, or an output variable that is developed by, at least one motor of the robot,
- wherein the plurality of specified fault reactions comprises:
- at least one motor-active fault reaction, wherein the at least one motor of the robot is actuated, and
- at least one motor-passive fault reaction, wherein the at least one motor of the robot is not actuated.
Computer program product for controlling a robot, the 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:
- monitor at least one of an operational capability of, or an output variable that is developed by, at least one motor of the robot;
- and carry out a fault reaction on the basis of the monitoring of the robot, wherein the fault reaction is selected from a plurality of specified fault reactions;
- wherein the plurality of specified fault reactions comprises:
- at least one motor-active fault reaction, wherein the at least one motor of the robot is actuated, and
- at least one motor-passive fault reaction, wherein the at least one motor of the robot is not actuated.
Dependencies are inferred from the claim text.