Method and device for decelerating a robot axis arrangement

Patent metadata

Field	Value
Publication number	US-9956693-B2
Application number	US-201414339093-A
Country	US
Kind code	B2
Filing date	Jul 23, 2014
Priority date	Jul 26, 2013
Publication date	May 1, 2018
Grant date	May 1, 2018

Abstract

A method for decelerating a robot axis arrangement having at least one output link includes steps of applying a braking force on the output link with a brake and, in so doing, controlling a driving force of a drive that acts on the output link, and/or controlling the braking force on the basis of a dynamic variable of the output link, wherein the dynamic variable is a function of the braking force.

First claim

What is claimed is:

1. A method for decelerating a robot axis arrangement comprising at least one output link, the method comprising:
applying a braking force on the output link with a brake during deceleration of the output link;
detecting a dynamic variable of the output link using a force sensor operatively connected to the output link; and
controlling at least one of the braking force or a driving force of a drive that acts on the output link on the basis of the dynamic variable of the output link and a dynamic model of the robot axis arrangement, wherein the dynamic variable comprises at least one of a force or a movement variable.

2. The method of claim 1 , wherein at least one of the driving force or the braking force is controlled on the basis of a difference between the dynamic variable and a specified limit value.

3. The method of claim 1 , wherein the braking force is applied on the basis of an operating exception.

4. The method of claim 1 , wherein the brake includes a holding brake for locking the output link.

5. The method of claim 4 , wherein the holding brake is a mechanical, hydraulic, or pneumatic holding brake.

6. The method of claim 1 , wherein at least one of the drive or the brake is monitored with fail-safe technology.

7. The method of claim 1 , wherein:
at least one of the dynamic variable or at least one control variable for controlling at least one of the driving force or the braking force is determined with fail-safe technology; or
at least one of the driving force or the braking force is controlled with fail-safe technology; or
at least one of the dynamic variable or at least one control variable for controlling at least one of the driving force or the braking force is determined with fail-safe technology, and at least one of the driving force or the braking force is controlled with fail-safe technology.

8. The method of claim 1 , wherein the dynamic variable comprises a torque.

9. The method of claim 1 , wherein the movement variable comprises an acceleration of the output link.

10. A non-transitory machine readable data medium storing a computer program product having programming code for decelerating a robot axis arrangement comprising at least one output link, the programming code configured to, when executed by a computer, cause the computer to:
apply a braking force on the output link with a brake during deceleration of the output link;
detect a dynamic variable of the output link using a force sensor operatively connected to the output link; and
control at least one of the braking force or a driving force of a drive that acts on the output link on the basis of the dynamic variable of the output link and a dynamic model of the robot axis arrangement, wherein the dynamic variable comprises at least one of a force or a movement variable.

11. A robot axis arrangement, comprising:
at least one output link;
a brake for applying a braking force on the output link;
a drive for applying a driving force on the output link;
a controller controlling at least one of the driving force or the braking force during deceleration of the output link, on the basis of a dynamic variable of the output link and a dynamic model of the robot axis arrangement; and
a force sensor operatively connected to the output link for detecting the dynamic variable, the dynamic variable comprising at least one of a force or a movement variable.

12. The robot axis arrangement of claim 11 , wherein the brake includes a holding brake for locking the output link.

13. The robot axis arrangement of claim 12 , wherein the holding brake is a mechanical, hydraulic, or pneumatic holding brake.

14. The robot axis arrangement of claim 11 , wherein at least one of the controller or the detection means is designed with fail-safe technology.

15. The robot axis arrangement of claim 11 , wherein the controller is designed for controlling at least one of the driving force or the braking force of a single axis and is disposed in a robot link, in which at least one of the drive or the brake is disposed.

Assignees

• Kuka Lab Gmbh
• Kuka Deutschland Gmbh

Inventors

• Keyl Hartmut
• Thummel Michael
• Tscharnuter Dietmar
• Weiser Tobias

Classifications

• B25J9/1674

  characterised by safety, monitoring, diagnostic · CPC title

• G05B2219/42284

  Stop and brake motor · CPC title

• G05B2219/41285

  Dynamic brake of AC, DC motor · CPC title

• B25J11/00

  Manipulators not otherwise provided for · CPC title

• G05B2219/41279

  Brake · CPC title