Method and means for providing and/or controlling a manipulator process
AssigneeKUKA Roboter GmbH
InventorsGuenther Wiedemann, Andreas Hagenauer, Manfred Huettenhofer, Martin Weiss
Life of this patent
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Abstract
A method for designating and/or controlling a manipulator process for a manipulator configuration having at least one manipulator, in particular, an industrial robot, wherein the manipulator process includes a given oriented manipulator path for the manipulator configuration. The method includes designating or executing at least one action by the manipulator configuration, in particular, differently, in response to a reverse movement running counter to the oriented manipulator path, and/or a return movement running in the same direction as the oriented manipulator path.
Claims12
A method for designating or controlling a manipulator process for a manipulator configuration having at least one robotic manipulator and a controller that controls movement of the robotic manipulator, wherein the manipulator process includes a given oriented manipulator path for the manipulator configuration, the method comprising:
- controlling movement of the robotic manipulator with the controller in at least one of a reverse movement of the robotic manipulator, running counter to the direction of the oriented manipulator path, or a return movement of the manipulator, running in the same direction as the oriented manipulator path, in response to an event;
- and
- designating or executing at least one action by the manipulator configuration based on the reverse movement or the return movement.
A method for designating or controlling a manipulator process for a manipulator configuration having at least one robotic manipulator and a controller that controls movement of the robotic manipulator, wherein the manipulator process includes a given oriented manipulator path for the manipulator configuration, the method comprising:
- detecting with the controller the occurrence of an event that causes at least one of a reverse movement of the robotic manipulator, running counter to the direction of the oriented manipulator path, or a return movement of the manipulator, running in the same direction as the oriented manipulator path;
- and
- designating or executing at least one action by the manipulator configuration in response to the detected occurrence;
- wherein the manipulator path includes at least one switching path-point, and
- designating or executing the at least one action includes designating or executing the action in relation to the switching path-point;
- and
- wherein designating or executing the at least one action includes designating or executing the action in relation to a projected spacing of the manipulator configuration to said switching path-point for at least one of the reverse movement or the return movement.
A computer for designating or controlling a manipulator process for a manipulator configuration having at least one manipulator, in particular, an industrial robot, wherein the manipulator process exhibits a given oriented manipulator path for the manipulator configuration, the computer comprising a non-transitory storage medium including program code that when executed by the computer, causes the computer to:
- designate, or to execute, an action by the manipulator configuration in response to a reverse movement, running counter to the oriented manipulator path, or a return movement, running in the same direction as the oriented manipulator path.
A computer for designating or controlling a manipulator process for a manipulator configuration having at least one manipulator, in particular, an industrial robot, wherein the manipulator process exhibits a given oriented manipulator path for the manipulator configuration, the computer comprising a non-transitory storage medium including program code that when executed by the computer, causes the computer to:
- designate, or to execute, an action by the manipulator configuration in response to the detection of an event that causes at least one of a reverse movement, running counter to the oriented manipulator path, or a return movement, running in the same direction as the oriented manipulator path;
- wherein the manipulator path includes at least one switching path-point, and the action is designated or executed in relation to the switching path-point;
- and
- wherein the action is designated, or executed, in relation to a projected spacing of the manipulator configuration to the switching path-point for at least one of the reverse movement or the return movement.
Dependencies are inferred from the claim text.