Industrial robot and method for programming an industrial robot

Patent metadata

Field	Value
Publication number	US-9250624-B2
Application number	US-74510708-A
Country	US
Kind code	B2
Filing date	Dec 10, 2008
Priority date	Dec 21, 2007
Publication date	Feb 2, 2016
Grant date	Feb 2, 2016

Abstract

The invention relates to an industrial robot and a method for programming an industrial robot, for which the industrial robot is guided manually to a virtual surface ( 25 ) in the room, at which point the industrial robot is selected such that it cannot be guided any further manually. Next, that force (F) and/or torque acting on the industrial robot when an attempt is made to guide the industrial robot further manually is ascertained and stored, despite reaching the virtual surface ( 25 ).

First claim

What is claimed is:

1. A method of programming an industrial robot having a flange for receiving a tool or object, the method comprising:
placing the robot in a state wherein the robot flange can be manually guided;
manually guiding the robot flange to a virtual surface defined in space;
actuating the robot to resist further manual movement of the flange past the virtual surface once the robot flange has arrived at the virtual surface;
sensing, with a sensor or a drive mechanism, at least one of a force or a torque acting on the robot when further movement of the flange is attempted after having arrived at the virtual surface; and
storing the sensed force or torque for subsequent recall during operation of the robot.

2. The method of claim 1 , wherein the virtual surface is part of a virtual environmental model based on a computer model of a workpiece to be processed using the industrial robot.

3. The method of claim 1 , further comprising:
orienting the virtual surface in space such that the virtual surface envelops at least part of a workpiece that is to be processed using the industrial robot such that actuating the robot to resist further manual movement of the flange past the virtual surface stops manual movement of the robot before the flange touches the workpiece.

4. The method of claim 1 , wherein manually guiding the robot flange comprises applying force directly to the robot flange.

5. The method of claim 1 , wherein determining at least one of a force or a torque comprises sensing the force or torque using at least one of:
1) an internal force sensor or torque sensor of the industrial robot; or
2) drive mechanisms used for articulating the industrial robot.

6. An industrial robot, comprising:
a robot arm configured for manual and driven movement;
a plurality of drives associated with respective axes of said robot arm and operable to actuate said robot arm for movement about said respective axes;
a flange on said robot arm and adapted to receive a tool or object;
a control operative to actuate said drives for movement of said robot arm about said respective axes and, when the robot is being manually moved, to actuate said drives to resist further manual movement of the robot when a virtual surface defined in space is reached by said flange; and
at least one device operative to sense at least one of a force or torque acting on the industrial robot when further manual movement of said flange is attempted after having reached the virtual surface.

7. The industrial robot of claim 6 , wherein said control stores the determined force or torque.

8. The industrial robot of claim 6 , wherein the virtual surface is part of a virtual environmental model based on a computer model of a workpiece to be processed using the industrial robot.

9. The industrial robot of claim 6 , wherein said at least one device for sensing the at least one force or torque comprises an internal force sensor or torque sensor associated with the industrial robot.

10. The industrial robot of claim 6 , wherein said at least one device for sensing the at least one force or torque comprises said drives used for actuating said robot arm.

11. The industrial robot of claim 6 , wherein said control is operative to save information associated with at least one of a position or orientation of the industrial robot when a force or torque is exerted to further manually move said robot arm after having reached the virtual surface.

Assignees

• Zimmermann Uwe
• Kuka Roboter Gmbh

Inventors

• Zimmermann Uwe

Classifications

• G05B19/423 Primary

  Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path · CPC title

• G05B2219/40121

  Trajectory planning in virtual space · CPC title

• G05B2219/36425

  Move manually, touch surface, record position · CPC title

• G05B2219/36455

  Sensor, tactile feedback, operator feels forces of tool on workpiece · CPC title

• G05B2219/39194

  Compensation gravity · CPC title