Method and device for adjusting and controlling manipulators
AssigneeKUKA Roboter GmbH
InventorsGerhard Hietmann, Martin Weiss
Life of this patent
Estimating the term…
Abstract
Methods and apparatus for adjusting and controlling a robotic manipulator based on a dynamic manipulator model. A model for gear mechanism friction torque is determined for at least one axis, based on driven axis speeds and accelerations, and on a motor temperature on the drive side of one of the motors that is associated with the axis. The model is used to determine target values, such as motor position or current. The gear mechanism friction torque that complies with the model is determined in accordance with a gear mechanism temperature.
Claims34
A method of adjusting or controlling an automatically controlled robotic manipulator having shafts driven by motors and associated gear mechanisms, the method comprising:
- determining a gear mechanism friction torque as a function of gear mechanism temperature;
- determining a target value for at least one of a motor position or a motor current associated with at least one shaft of the robotic manipulator using a dynamic manipulator model that accounts for friction torques in the gear mechanisms, the model including a gear mechanism friction torque model for the at least one shaft based on driven-side shaft velocities and shaft accelerations;
- and
- actuating at least one motor of the robotic manipulator with a controller based on the determined target value.
A device for controlling an automatically controlled robotic manipulator having shafts driven by motors and associated gear mechanisms, the device comprising:
- a control unit that determines a gear mechanism friction torque as a function of a gear mechanism temperature using a dynamic manipulator model that accounts for friction torques in the gear mechanisms, the model including a gear mechanism friction torque model for at least one shaft based on driven-side shaft velocities and shaft accelerations;
- and
- a temperature determination unit that determines a gear mechanism temperature;
- the determination unit generating a signal related to the gear mechanism temperature and communicating the signal to the control unit;
- the control unit actuating at least one motor of the robotic manipulator based on the determined a gear mechanism friction torque.
Dependencies are inferred from the claim text.