Method and manipulator assembly for the conditional stopping of at least one manipulator on a path
AssigneeKUKA Roboter GmbH
InventorsHolger Tronnier, Günther Wiedemann, Stefan Burkhart, Andreas Aurnhammer, Manfred Hüttenhofer
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Abstract
A method for the conditional stopping of at least one manipulator and a manipulator assembly. The manipulator travels along a path which has a stopping point. In order to be able to stop the manipulator at the stopping point, a braking point on the path is calculated as a function of a speed of the manipulator. If the status of a travel condition variable necessitates braking of the manipulator in the event of exceeding the braking point, the manipulator is braked.
Claims18
A method performed by a manipulator control device for controlling the braking of at least one manipulator for stopping the at least one manipulator at a predetermined stopping point, wherein the at least one manipulator is configured to travel along a path and the path includes the predetermined stopping point, comprising:
- calculating a braking point assigned to the stopping point as a function of a speed (v) of the manipulator, with the braking point being calculated as a point on the path at which braking is commenced in order to stop the at least one manipulator at the predetermined stopping point;
- monitoring a status of a travel condition variable;
- the status indicating whether the travel condition is met or unmet, and
- conditionally braking the manipulator at or beyond the braking point while the status of the travel condition variable is unmet.
A manipulator assembly comprising:
- at least one manipulator;
- and
- at least one control device for controlling operation of the manipulator, wherein:
- the at least one manipulator is configured to travel along a path, and the path has a predetermined stopping point at which the at least one manipulator is stopped when a predetermined travel condition is unmet,
- the at least one control device is configured to calculate a braking point assigned to the stopping point as a function of a speed (v) of the manipulator, with the braking point being a point on the path, and
- the at least one control device is further configured to monitor the status of a travel condition variable indicating whether the travel condition is presently met or unmet, and to initiate conditional braking of the manipulator at or beyond the braking point while the status of the travel condition variable is unmet.
Dependencies are inferred from the claim text.