Control method for a robot

Patent metadata

Field	Value
Publication number	US-9937619-B2
Application number	US-201214238824-A
Country	US
Kind code	B2
Filing date	Aug 17, 2012
Priority date	Aug 24, 2011
Publication date	Apr 10, 2018
Grant date	Apr 10, 2018

Abstract

The invention relates to a control method for a robot ( 1 ) having a plurality of movable robot axes ( 2, 4, 6 ), in particular for a painting robot ( 1 ) or a manipulating robot, comprising the following steps: (a) predetermining a robot path by means of a plurality of path points through which a reference point of the robot ( 1 ) is intended to travel; (b) controlling drive motors of the individual robot axes ( 2, 4, 6 ) according to the predetermined robot path, such that the reference point of the robot ( 1 ) travels through the predetermined robot path; (c) precalculating the mechanical loading (My 1 , Mx 1 , Fx 1 , Fy 1 , Fz 1 , Fx 2 , Fy 2 , Fz 2 , Mx 2 , My 2 , Mz 2 ) that occurs within at least one of the robot axes ( 2, 4, 6 ) between two joints when travelling through the robot path ahead; and also (d) adjusting the control of the drive motors of the robot axes ( 2, 4, 6 ) on the basis of the precalculated mechanical loading (My 1 , Mx 1 , Fx 1 , Fy 1 , Fz 1 , Fx 2 , Fy 2 , Fz 2 , Mx 2 , My 2 , Mz 2 ), such that a mechanical overload is avoided.

First claim

The invention claimed is:

1. A method for controlling a robot having several movable robot axes, wherein the robot axes are each pivotable, the method comprising:
specifying a robot path through a plurality of path points, to be traversed by a reference point of the robot;
controlling drive motors of respective individual robot axes in accordance with the robot path, so that the reference point of the robot traverses the path points,
precalculating at least one tilting moment within at least one robot axis that is predicted to occur when traversing the upcoming robot path,
the controlling of the drive motors being adapted depending on the at least one precalculated tilting moment.

2. The method according to claim 1 , wherein the at least one tilting moment occurs between two joints.

3. The method according to claim 1 , further comprising:
comparing the at least one tilting moment with at least a limit value for detection of an upcoming mechanical overload; and
braking movement of the reference point on the robot path when an upcoming mechanical overload is detected.

4. The method according to claim 1 , wherein
the drive motors of the robot axes are each controlled by respective position controllers,
the position controllers receive target values from a central robot control,
the central robot control outputs the target values clocked with an interpolator clock-pulse to the position controllers, and
pre-calculation of the at least one tilting moment is clocked in the interpolator clock-pulse.

5. The method according to claim 1 , wherein
the at least one tilting moment is pre-calculated multi-dimensionally; and
during the pre-calculation of the at least one tilting moment, each of torques and forces are calculated.

6. The method according to claim 1 , further comprising:
specifying a coordinate system having a coordinate origin that is within one of the robot axes and fixed relative to the one of the robot axes, whereby the coordinate system moves along with the robot axis;
selecting at least one of forces and torques that arise in the coordinate system during the movement of the robot; and
determining the at least one tilting moment from the selected forces and/or torques.

7. A robot control for controlling a robot having several movable robot axes, wherein the robot control is configured to carry out the method according to claim 1 .

8. A robot system, comprising:
at least one multi-axis robot, in particular a painting robot or a handling robot, and
a robot control according to claim 7 .

Assignees

• Meissner Alexander
• Schoell Bjorn
• Hacker Jens
• Schretling Viktor
• Hezel Thomas
• Duerr Systems Gmbh

Inventors

• Meissner Alexander
• Schoell Bjorn
• Hacker Jens
• Schretling Viktor
• Hezel Thomas

Classifications

• G05B2219/39176

  Compensation deflection arm · CPC title

• G05B2219/39194

  Compensation gravity · CPC title

• B25J9/1638 Primary

  compensation for arm bending/inertia, pay load weight/inertia · CPC title