Method for operating a multi-axis robot

Patent metadata

Field	Value
Publication number	US-9248571-B2
Application number	US-201113029244-A
Country	US
Kind code	B2
Filing date	Feb 17, 2011
Priority date	Feb 17, 2010
Publication date	Feb 2, 2016
Grant date	Feb 2, 2016

Abstract

A method for operating a multi-axis, preferably six-axis, robot with axes that can be driven by drive means is proposed. The axes are possible to be moved separately and their movement is controlled by a control facility. Before the movement of the robot is executed, a control data record is created for controlling the movement of the robot as a function of initial and target information for the robot input by a user. The control facility performs a verification of the control data record in respect of at least one predefined basic condition relating to the operation of the robot stored in a memory. The control data record is adjusted based on the at least one basic condition while retaining the target information as a function of the result of the check.

First claim

The invention claimed is:

1. A method for operating a multi-axis robot with axes being possible to be moved separately by a drive device, comprising:
receiving input of an initial configuration and a target configuration of the robot from a user;
creating a control data record for defining a movement of the robot by a computerized control device as a function of the initial configuration and the target configuration before moving the robot;
storing a basic condition relating to an operation of the robot in a memory, the basic condition comprising a movement path of the robot, individual movements of segments of the robot, a fixed object installed in an examination room, a rotation angle and speed of the robot, distance between the robot and an examination object, and noise resulting from individual or several movements of the robot;
checking the control data record with the basic condition;
adjusting the control data record if the control data record infringes the basic condition so that the basic condition is met by the control data record; and
moving the robot to the target configuration based on an adjusted control data record,
wherein infringement of the basic condition comprises:
the movement of the robot defined in the data record that is associated with a collision with the fixed object,
a rotation angle and speed of the movement of the robot defined in the data record that are lamer than the rotation angle and speed stored in the basic condition,
the movement of the robot defined in the data record that is closer than the distance between the robot and the examination object stored in the basic condition, and
noise resulting from the rotation angle and speed of the movement of the robot defined in the data record that is higher than the noise stored in the basic condition, and

wherein the rotation angle and speed of the movement of the robot defined in the data record is reduced in the adjusted control data record to meet the basic condition.

2. The method as claimed in claim 1 , wherein the control device executes a real-time simulation before the robot moves to verify the original configuration and/or the adjusted control data record of the movement of the robot.

3. The method as claimed in claim 1 , wherein an algorithm that performs the verification and the adjustment is stored in the control device.

4. The method as claimed in claim 1 , wherein an acceleration profile of the robot is adjusted to avoid abrupt direction or acceleration changes and abrupt braking process.

5. The method as claimed in claim 1 , wherein an acceleration profile of the robot is filtered to avoid abrupt direction or acceleration changes and abrupt braking process.

6. The method as claimed in claim 1 , wherein the memory is an external database and is communicated with the control device.

7. A multi-axis robot, comprising:
an input device that receives input of an initial configuration and a target configuration of the robot from a user;
a memory that stores a basic condition relating to an operation of the robot, the basic condition comprising a movement path of the robot, individual movements of segments of the robot, a fixed object installed in an examination room, a rotation angle and speed of the robot, distance between the robot and an examination object, and noise resulting from individual or several movements of the robot;
a control device that is configured to:
create a control data record for defining a movement of the robot as a function of the initial configuration and the target configuration before moving the robot,
check the control data record with the basic condition, and
adjust the control data record if the control data record infringes the basic condition so that the basic condition is met by the control data record; and

a drive device that moves the robot to the target configuration based on an adjusted control data record,
wherein infringement of the basic condition comprises:
the movement of the robot defined in the data record that is associated with a collision with the fixed object,
a rotation angle and speed of the movement of the robot defined in the data record that are lamer than the rotation angle and speed stored in the basic condition,
the movement of the robot defined in the data record that is closer than the distance between the robot and the examination object stored in the basic condition, and
noise resulting from the rotation angle and speed of the movement of the robot defined in the data record that is higher than the noise stored in the basic condition, and

wherein the rotation angle and speed of the movement of the robot defined in the data record is reduced in the adjusted control data record to meet the basic condition.

8. The multi-axis robot as claimed in claim 7 , wherein the drive device is configured to move axes of the robot separately.

9. The multi-axis robot as claimed in claim 7 , wherein the robot comprises six axes.

Assignees

• Amberg Jessica
• Knoop Hayo
• Sonntag Kerstin
• Siemens Ag

Inventors

• Amberg Jessica
• Knoop Hayo
• Sonntag Kerstin

Classifications

• B25J9/1664 Primary

  characterised by motion, path, trajectory planning · CPC title

• G05B2219/40317

  For collision avoidance and detection · CPC title