Method for controlling a robot

Patent metadata

Field	Value
Publication number	US-9409295-B2
Application number	US-201414460811-A
Country	US
Kind code	B2
Filing date	Aug 15, 2014
Priority date	Aug 20, 2013
Publication date	Aug 9, 2016
Grant date	Aug 9, 2016

Abstract

A method for controlling a robot includes monitoring the robot, and carrying out a fault reaction, selected from a number of specified fault reactions, on the basis of the monitoring of the robot, wherein the fault reaction is selected on the basis of a monitoring of an operational capability and/or an output variable of at least one motor of the robot.

First claim

What is claimed is:

1. A method for controlling a robot, the method comprising:
monitoring at least one of an operational capability of, or an output variable that is developed by, at least one motor of the robot; and
carrying out a fault reaction, wherein the fault reaction is selected from a plurality of specified fault reactions on the basis of the monitoring of the robot;
wherein the plurality of specified fault reactions comprises:
at least one motor-active fault reaction, wherein the at least one motor of the robot is actuated, and
at least one motor-passive fault reaction, wherein the at least one motor of the robot is not actuated.

2. The method of claim 1 , wherein:
the at least one motor-active fault reaction includes at least one of a motor deceleration with or without a subsequent disconnecting from an energy source, a compliance control, or a retraction motion; and
the least one motor-passive fault reaction includes an immediate disconnection from the energy source without deceleration of the motor.

3. The method of claim 1 , further comprising:
controlling the motor in a normal operating mode with a first control; and
controlling the motor during a fault reaction with a second control which is different from the first control.

4. The method of claim 1 , wherein monitoring an operational capability comprises a classification of an operational capability, the classification having at least two steps.

5. The method of claim 4 , wherein the classification has at least three steps.

6. The method of claim 1 , wherein monitoring an operational capability comprises:
determining at least one parameter; and
comparing the at least one parameter with a specified parameter.

7. The method of claim 6 , wherein the at least one parameter comprises an electromagnetic, a thermal, or a kinematic parameter of the motor.

8. The method of claim 1 , wherein the fault reaction is selected before and/or while the fault reaction is carried out.

9. The method of claim 1 , wherein the output variable comprises at least one of a force or an integral variable thereof.

10. The method of claim 9 , wherein the force is a torque, and wherein the integral variable is at least one of work or power.

11. Controller for controlling a robot, the controller comprising:
a first monitoring component configured for monitoring the robot;
a second monitoring component configured for monitoring at least one of an operational capability or an output variable of at least one motor of the robot;
a fault reaction component configured for carrying out a fault reaction on the basis of the monitoring of the robot, the fault reaction selected from a plurality of specified fault reactions; and
a selection component configured for selecting the fault reaction on the basis of the monitoring of the at least one of an operational capability of or an output variable that is developed by at least one motor of the robot;
wherein the plurality of specified fault reactions comprises:
at least one motor-active fault reaction, wherein the at least one motor of the robot is actuated, and
at least one motor-passive fault reaction, wherein the at least one motor of the robot is not actuated.

12. The controller of claim 11 , comprising:
a first controller configured for controlling the motor in a normal operating mode of the robot; and
a second controller different from the first controller and configured for controlling the motor during a fault reaction.

13. The controller of claim 11 , wherein the second monitoring component comprises:
a determination-component configured for determining at least one parameter of the motor; and
a comparison component configured for comparing the determined parameter with a specified parameter.

14. The controller of claim 13 , wherein the at least one parameter is an electromagnetic, a thermal, or a kinematic parameter of the motor.

15. The controller of claim 11 , wherein the output variable comprises at least one of a force or an integral variable thereof.

16. The controller of claim 15 , wherein the force is a torque, and wherein the integral variable is at least one of work or power.

17. A robot, comprising:
a plurality of drive motors; and
a controller for controlling the drive motors, the controller comprising:
a first monitoring component configured for monitoring the robot,
a second monitoring component configured for monitoring at least one of an operational capability or an output variable of at least one of the drive motors,

a fault reaction component configured for carrying out a fault reaction on the basis of the monitoring of the robot, the fault reaction selected from a plurality of specified fault reactions, and
a selection component configured for selecting the fault reaction on the basis of the monitoring of the at least one of an operational capability of, or an output variable that is developed by, at least one motor of the robot,
wherein the plurality of specified fault reactions comprises:
at least one motor-active fault reaction, wherein the at least one motor of the robot is actuated, and
at least one motor-passive fault reaction, wherein the at least one motor of the robot is not actuated.

18. Computer program product for controlling a robot, the computer program product having programming code stored on a non-transitory machine readable data medium, the programming code configured to, when executed by a computer, cause the computer to:
monitor at least one of an operational capability of, or an output variable that is developed by, at least one motor of the robot; and carry out a fault reaction on the basis of the monitoring of the robot, wherein the fault reaction is selected from a plurality of specified fault reactions;
wherein the plurality of specified fault reactions comprises:
at least one motor-active fault reaction, wherein the at least one motor of the robot is actuated, and
at least one motor-passive fault reaction, wherein the at least one motor of the robot is not actuated.

Assignees

• Kuka Lab Gmbh
• Kuka Roboter Gmbh

Inventors

• Ueberle Marc-Walter
• Keyl Hartmut

Classifications

• G05B2219/42319

  What kind of actuator failure · CPC title

• G05B2219/40204

  Each fault condition has a different recovery procedure · CPC title

• B25J9/1651

  acceleration, rate control · CPC title

• G05B23/0291

  Switching into safety or degraded mode, e.g. protection and supervision after failure · CPC title

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title