Method and manipulator assembly for the conditional stopping of at least one manipulator on a path

Patent metadata

Field	Value
Publication number	US-9827674-B2
Application number	US-201514969513-A
Country	US
Kind code	B2
Filing date	Dec 15, 2015
Priority date	Dec 22, 2014
Publication date	Nov 28, 2017
Grant date	Nov 28, 2017

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.

First claim

The invention claimed is:

1. 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.

2. The method according to claim 1 , wherein the status of the travel condition variable is cyclically monitored and, in the case of an initiated braking operation, the manipulator is accelerated if the status of the travel condition variable changes during the braking of the manipulator.

3. The method according to claim 2 , wherein the braking of the manipulator is true to the path.

4. The method according to claim 2 , wherein the path comprises at least one path section that is a spline.

5. The method according to claim 2 , wherein the location of the braking point on the path is calculated using a path progress variable (x) of the path.

6. The method according to claim 1 , wherein the braking action during a braking operation is adjusted as a function of the travel condition variable, so that the manipulator stops at the latest at the stopping point.

7. The method according to claim 1 , wherein the braking of the manipulator is true to the path.

8. The method according to claim 1 , wherein the path comprises at least one path section that is a spline.

9. The method according to claim 1 , wherein the location of the braking point on the path is calculated using a path progress variable (x) of the path.

10. 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.

11. The manipulator assembly according to claim 10 , wherein the control device is additionally configured to cyclically monitor the status of the travel condition variable and, in the case of an initiated braking operation of the manipulator, to send a command to accelerate the manipulator if the status of the travel condition variable changes during the braking of the manipulator.

12. The manipulator assembly according to claim 11 , wherein the braking of the manipulator is true to the path.

13. The manipulator assembly according to claim 11 , wherein the path comprises at least one path section that is a spline.

14. The manipulator assembly according to claim 11 , wherein the location of the braking point on the path is calculated using a path progress variable (x) of the path.

15. The manipulator assembly according to claim 10 , wherein the braking action during a braking operation is adjustable as a function of the travel condition variable so that the manipulator stops completely, at the latest at the stopping point.

16. The manipulator assembly according to claim 10 , wherein the braking of the manipulator is true to the path.

17. The manipulator assembly according to claim 10 , wherein the path comprises at least one path section that is a spline.

18. The manipulator assembly according to claim 10 , wherein the location of the braking point) on the path is calculated using a path progress variable (x) of the path.

Assignees

• Kuka Roboter Gmbh

Inventors

• Tronnier Holger
• Wiedemann Günther
• Burkhart Stefan
• Aurnhammer Andreas
• Hüttenhofer Manfred

Classifications

• B25J9/1664 Primary

  characterised by motion, path, trajectory planning · CPC title

• Y10S901/09

  Closed loop, sensor feedback controls arm movement · CPC title

• G05B19/4166 Primary

  Controlling feed or in-feed (G05B19/4163 takes precedence) · CPC title

• B25J19/0004

  Braking devices (brakes in general F16D) · CPC title

• G05B2219/39098

  Estimate stop, brake distance in predef time, then verify if in safe distance · CPC title