Event-based redundancy angle configuration for articulated-arm robots
AssigneeKUKA Roboter GmbH
InventorBettina Pfaff
Life of this patent
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Abstract
The invention relates to a method and a system for controlling a robot, which has at least one redundant degree of freedom. The method according to the invention prevents the robot from colliding with its surrounding environment and/or from getting into an inconvenient position as a result of its redundancy, and does so without causing any disadvantageous displacement of the tool center point.
Claims11
A method for controlling a hand-guided multi-axle manipulator, in particular an articulated-arm robot, the axes of which are equipped with sensors to register the torques acting on the axes and the positions of a plurality of joints of the multi-axle manipulator, wherein the manipulator has at least one redundant degree of freedom, and wherein the manipulator has a tool center point, which includes the following method steps performed by a control device:
- defining, for at least one of the plurality of joints of the manipulator, a range in which the joint of the manipulator can move freely according to the overall movement of the manipulator;
- determining according to a position registered by one of the sensors whether the joint has reached a limit of the range defined for the joint as a tool center point of the manipulator is guided by an operator;
- and
- adjusting movement of the manipulator in response to the determination that the joint has reached the limit of the range defined for the joint, so that a movement of the joint through the limit is counteracted, without the tool center point of the robot being displaced as a result of the counteraction.
A manipulator system, comprising:
- a hand-guided multi-axle manipulator the axes of which are equipped with sensors to register the torques acting on the axes and the positions of a plurality of joints of the multi-axle manipulator, wherein the manipulator has at least one redundant degree of freedom and wherein the manipulator has a tool center point, and
- a control device,
- wherein the control device is configured to:
- a) define, for at least one of the plurality of joints of the manipulator, a range in which the joint of the manipulator can move freely according to the overall movement of the manipulator;
- b) determine according to a position registered by one of the sensors whether the joint has reached a limit of the range defined for the joint as a tool center point of the manipulator is guided by an operator;
- and
- c) adjust a movement of the manipulator in response to the determination that the joint has reached the limit of the range defined for the joint, so that a movement of the joint through the limit is counteracted, without the tool center point of the robot being displaced as a result of the counteraction.
Dependencies are inferred from the claim text.