Method and control means for controlling a robot
AssigneeKUKA Roboter GmbH
InventorsJonas Rümping, Christian Sonner
Life of this patent
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Abstract
According to a method according to the invention for controlling a robot, in particular a human-collaborating robot, a robot- or task-specific redundancy of the robot is resolved, wherein, in order to resolve the redundancy, a pose-dependent inertia variable of the robot is minimized.
Claims14
A method for controlling a robot having a plurality of successive links driven by motors actuated by a controller, wherein a robot-specific or task-specific redundancy of the robot is resolved, the method comprising:
- minimizing a pose-dependent inertia variable of the robot in the controller for resolution of the redundancy;
- and
- operating the robot with the controller at a speed that is higher than the operating speed of the robot prior to resolving the redundancy, or
- operating the robot with the controller in a pose selected to reduce the consequences of a collision and at a speed that is equal to or higher than the operating speed of the robot prior to resolving the redundancy.
A controller for controlling a human-collaborating robot, the controller comprising:
- a processing unit;
- and
- a memory unit operatively coupled to the processing unit and containing a program that, when executed by the processing unit, causes the controller to:
- resolve a robot-specific or task-specific redundancy of the robot by minimizing a pose-dependent inertia variable of the robot;
- and
- operate the robot with the controller at a speed that is higher than the operating speed of the robot prior to resolving the redundancy, or
- operate the robot with the controller in a pose selected to reduce the consequences of a collision and at a speed that is equal to or higher than the operating speed of the robot prior to resolving the redundancy.
A computer program product comprising:
- a non-transitory computer readable storage medium;
- and
- a program stored on the non-transitory computer readable storage medium that, when executed by a processing unit, causes the processing unit to:
- resolve a robot-specific or task-specific redundancy of the robot by minimizing a pose-dependent inertia variable of the robot;
- and
- operate the robot with the controller at a speed that is higher than the operating speed of the robot prior to resolving the redundancy, or
- operate the robot with the controller in a pose selected to reduce the consequences of a collision and at a speed that is equal to or higher than the operating speed of the robot prior to resolving the redundancy.
A method for controlling a robot having a plurality of successive links driven by motors actuated by a controller, wherein a robot-specific or task-specific redundancy of the robot is resolved, the method comprising:
- minimizing a pose-dependent inertia variable of the robot in the controller for resolution of the redundancy;
- and
- operating the robot with the controller at a speed that is higher than the operating speed of the robot prior to resolving the redundancy.
Dependencies are inferred from the claim text.