Method and device for decelerating a robot axis arrangement
AssigneeKUKA Deutschland GmbH
InventorsHartmut Keyl, Michael Thummel, Dietmar Tscharnuter, Tobias Weiser
Life of this patent
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Abstract
A method for decelerating a robot axis arrangement having at least one output link includes steps of applying a braking force on the output link with a brake and, in so doing, controlling a driving force of a drive that acts on the output link, and/or controlling the braking force on the basis of a dynamic variable of the output link, wherein the dynamic variable is a function of the braking force.
Claims15
A method for decelerating a robot axis arrangement comprising at least one output link, the method comprising:
- applying a braking force on the output link with a brake during deceleration of the output link;
- detecting a dynamic variable of the output link using a force sensor operatively connected to the output link;
- and
- controlling at least one of the braking force or a driving force of a drive that acts on the output link on the basis of the dynamic variable of the output link and a dynamic model of the robot axis arrangement, wherein the dynamic variable comprises at least one of a force or a movement variable.
A non-transitory machine readable data medium storing a computer program product having programming code for decelerating a robot axis arrangement comprising at least one output link, the programming code configured to, when executed by a computer, cause the computer to:
- apply a braking force on the output link with a brake during deceleration of the output link;
- detect a dynamic variable of the output link using a force sensor operatively connected to the output link;
- and
- control at least one of the braking force or a driving force of a drive that acts on the output link on the basis of the dynamic variable of the output link and a dynamic model of the robot axis arrangement, wherein the dynamic variable comprises at least one of a force or a movement variable.
A robot axis arrangement, comprising:
- at least one output link;
- a brake for applying a braking force on the output link;
- a drive for applying a driving force on the output link;
- a controller controlling at least one of the driving force or the braking force during deceleration of the output link, on the basis of a dynamic variable of the output link and a dynamic model of the robot axis arrangement;
- and
- a force sensor operatively connected to the output link for detecting the dynamic variable, the dynamic variable comprising at least one of a force or a movement variable.
Dependencies are inferred from the claim text.