Method of programming an industrial robot and industrial robots
AssigneeKUKA Roboter GmbH
InventorsUwe Zimmermann, Volker Schmirgel
Life of this patent
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Abstract
The invention concerns a method of programming an industrial robot, exhibiting the steps of selecting a program command, the assigned rigidity parameter of which is to be verified, changed and/or saved in the program mode; moving the manipulator arm into a test pose, in which the industrial robot is configured and/or arranged to manually touch and/or move the manipulator arm; and the automatic actuation of the manipulator arm by the control device such that the manipulator arm in the test pose exhibits the rigidity corresponding to the assigned rigidity parameter of the selected program command. The invention further concerns an industrial robot, exhibiting a control device designed and/or configured to execute such a method.
Claims18
A method of programming an industrial robot, the robot including a manipulator arm and a control device to actuate the manipulator arm, the control device configured to move the manipulator arm according to a robot program that is editable in a program mode and executable in an execution mode, wherein the robot program contains at least one program command to which is assigned at least one rigidity parameter via which, in the course of an automatic execution of the robot program in the execution mode, the control device is caused to automatically actuate the manipulator arm in a manner that is at least one of force- or torque-controlled according to the at least one rigidity parameter, the method comprising:
- selecting a program command, the assigned rigidity parameter of which is to be at least one of verified, changed or saved in the program mode;
- moving the manipulator arm into a test pose in the program mode, wherein the test pose is different from the pose associated with the selected program command and the pose of the manipulator arm is changeable by manual touching or moving by an operator;
- and
- automatically actuating the manipulator arm by the control device such that the manipulator arm in the test pose exhibits the rigidity corresponding to the assigned rigidity parameter of the selected program command.
A method of programming an industrial robot, the robot including a manipulator arm and a control device to actuate the manipulator arm, the control device configured to move the manipulator arm according to a robot program that is editable in a program mode and executable in an execution mode, wherein the robot program contains at least one program command to which is assigned at least one rigidity parameter via which, in the course of an automatic execution of the robot program in the execution mode, the control device is caused to automatically actuate the manipulator arm in a manner that is at least one of force- or torque-controlled according to the at least one rigidity parameter, the method comprising:
- selecting a program command, the assigned rigidity parameter of which is to be at least one of verified, changed or saved in the program mode;
- moving the manipulator arm into a test pose in the program mode, wherein the pose of the manipulator arm is changeable by manual touching or moving by an operator;
- automatically actuating the manipulator arm by the control device such that the manipulator arm in the test pose exhibits the rigidity corresponding to the assigned rigidity parameter of the selected program command;
- assigning a reference coordinate system to the at least one rigidity parameter;
- and
- automatically changing the test pose of the manipulator arm such that the orientation of the reference coordinate system corresponds to an orientation relative to a world coordinate system that the reference coordinate system would have during the execution of the selected program command in the execution mode.
An industrial robot having a control device configured to execute a robot program and having a manipulator arm with at least three joints that are adjustable in an automated manner in accordance with the robot program and/or automatically in a manual operation, wherein the robot program is editable in a program mode and executable in an execution mode, wherein the robot program contains at least one program command to which is assigned at least one rigidity parameter via which, in the course of an automatic execution of the robot program in the execution mode, the control device is caused to automatically actuate the manipulator arm in a manner that is at least one of force- or torque-controlled according to the at least one rigidity parameter, the control device comprising a non-transitory storage medium including program code that, when executed by the control device, causes the control device to:
- select a program command, the assigned rigidity parameter of which is to be at least one of verified, changed or saved in the program mode;
- move the manipulator arm into a test pose in the program mode, wherein the test pose is different from the pose associated with the selected program command and the pose of the manipulator arm is changeable by manual touching or moving by an operator;
- and
- automatically actuate the manipulator arm such that the manipulator arm in the test pose exhibits the rigidity corresponding to the assigned rigidity parameter of the selected program command.
Dependencies are inferred from the claim text.