Method and apparatus for fixing a manipulator axis
AssigneeKUKA Roboter GmbH
InventorsZoubir Benali, Andreas Hagenauer, Stefan Poth
Life of this patent
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Abstract
A method for fixing the position at least one axis of a manipulator, in particular of a robot, includes closuring a mechanical brake of the axis, deactivating an actuator of the axis with a motion controller, monitoring the mechanical brake, and activating the actuator with the motion controller if a monitoring system identifies a fault condition of the mechanical brake.
Claims17
A method of fixing at least one axis of a manipulator, in particular of a robot, the method comprising:
- closing a mechanical brake of the at least one axis;
- deactivating an actuator of the axis with a motion controller that controls operation of the robot;
- monitoring the mechanical brake with a monitoring system;
- and
- activating the actuator with the motion controller in response to the monitoring system identifying a fault condition of the mechanical brake.
A controller for a manipulator, in particular for a robot, for controlling a process movement, the controlling comprising a storage medium including a program code that, when executed by the controller, causes the controller to:
- close a mechanical brake of at least one axis of the robot;
- deactivate an actuator of the at least one axis;
- monitor the mechanical brake with a monitoring system;
- and
- activate the actuator in response to the monitoring system identifying a fault condition of the mechanical brake.
A computer program product having program code stored on a non-transitory machine readable data medium, the programming code configured to, when executed by a computer, cause the computer to:
- close a mechanical brake of at least one axis of a robot;
- deactivate an actuator of the at least one axis;
- monitor the mechanical brake with a monitoring system;
- and
- activate the actuator in response to the monitoring system identifying a fault condition of the mechanical brake.
Dependencies are inferred from the claim text.