Adapting the dynamics of at least one robot
AssigneeDürr Systems AG
InventorFrank Herre
Life of this patent
Estimating the term…
Abstract
A first robot and at least one further second robot are provided to run through a plurality of positioning ranges during operation. A dynamic behavior and/or a load characteristic value of the robot in at least one first positioning range can be adapted to a dynamic behavior and/or a load characteristic value in at least one second positioning range of the robot and/or a dynamic behavior and/or a load characteristic value of the first robot in at least one first positioning range is adapted to a dynamic behavior and/or a load characteristic value of the second robot in at least one second positioning range.
Claims19
A method, comprising:
- running two multi-axial paint application robots through a plurality of positioning ranges along respective first and second meandrous paths;
- determining as an operating constraint of a first robot a first maximum permissible speed of the first robot representing a maximum permissible loading in a first positioning range;
- determining as an operating constraint of a second robot a second maximum permissible speed of the second robot representing a maximum permissible loading in a second positioning range;
- wherein the first maximum permissible speed is greater than the second maximum permissible speed, allowing the first robot to operate at higher speeds and accelerations than the second robot;
- adapting the second maximum permissible speed as the operating constraint of the first robot such that both robots traverse a workpiece at the second maximum permissible speed for a whole of the paths;
- and
- applying paint with the robots operating at the second maximum permissible speed.
A system comprising a control system that is configured to:
- run two multi-axial paint application robots through a plurality of positioning ranges along respective first and second meandrous paths;
- determine as an operating constraint of a first robot a first maximum permissible speed of the first robot representing a maximum permissible loading in a first positioning range;
- determine as an operating constraint of a second robot a second maximum permissible speed of the second robot representing a maximum permissible loading in a second positioning range;
- wherein the first maximum permissible speed is greater than the second maximum permissible speed, allowing the first robot to operate at higher speeds and accelerations than the second robot;
- adapt the second maximum permissible speed as the maximum permissible speed of the first robot such that both robots traverse a workpiece at the second maximum permissible speed for a whole of the paths;
- and
- apply paint with the robots operating at the second maximum permissible speed.
A non-transitory computer-readable medium tangibly embodying instructions executable by a computer processor, the instructions including instructions to:
- run two multi-axial paint application robots through a plurality of positioning ranges along respective first and second meandrous paths;
- determine as an operating constraint of a first robot a first maximum permissible speed of the first robot representing a maximum permissible loading in a first positioning range;
- determine as an operating constraint of a second robot a second maximum permissible speed of the second robot representing a maximum permissible loading in a second positioning range;
- wherein the first maximum permissible speed is greater than the second maximum permissible speed, allowing the first robot to operate at higher speeds and accelerations than the second robot;
- adapt the second maximum permissible speed as the operating constraint of the first robot such that both robots traverse a workpiece at the same speeds and accelerations to apply paint to one or more workpieces at the second maximum permissible speed for a whole of the paths;
- and
- apply paint with the robots operating at the second maximum permissible speed.
Dependencies are inferred from the claim text.