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Industrial robot and method for controlling the movement of an industrial robot

An industrial robot and motion technology, applied in the direction of program control manipulator, program control, general control system, etc., can solve problems such as process geometry and process speed uncertainty, and achieve the effect of avoiding duration

Active Publication Date: 2010-10-13
库卡实验仪器有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0025] Due to disadvantages 1, 3, the process geometry and process speed are indeterminate
[0026] Due to disadvantages 3, 4, 5, the surrounding paths and procedural points must be kept at a safe distance, because both the exact stop path and the outer loop path must be collision-free and traversable

Method used

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  • Industrial robot and method for controlling the movement of an industrial robot
  • Industrial robot and method for controlling the movement of an industrial robot
  • Industrial robot and method for controlling the movement of an industrial robot

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Embodiment Construction

[0077] already in the introduction Figure 1 to Figure 3 Made a description.

[0078] Figure 4 An industrial robot 1 is shown, which has kinematics for movement in, for example, 6 degrees of freedom. The industrial robot 1 has joints 2 to 4 , levers 5 , 6 , six axes of motion A1 to A6 and a flange 7 , on which actuators (not shown), such as tools, can be fastened, in a generally known manner.

[0079] Drives, not shown, move each axis of motion A1 to A6. As known to those skilled in the art, the drive means includes, for example, electric motors and gears.

[0080] In addition, the industrial robot 1 has a control device, which is a control calculator 8 in the present embodiment. The control calculator 8 is connected to the driving device of the industrial robot 1 in a manner not shown, and uses the A program is calculated to control the drive so that the flange 7 of the industrial robot 1 executes a predetermined movement.

[0081] The control arithmetic unit 8 has a me...

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PUM

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Abstract

The invention relates to an industrial robot (1) having a control apparatus (8), and to a method for controlling the movement of the industrial robot (1). For the purposes of the method, an instruction which is intended for controlling the industrial robot (1) is checked, an interpreted instruction is produced by interpretation of the checked instruction by means of an interpreter (13), and the interpreted instruction is stored in a temporary store (10). This process is repeated until a first keyword is detected. A data record (15) is then produced from the interpreted instructions stored in the temporary store (10), wherein the data record (15) has information relating to at least one path element of a path on which the industrial robot (1) is intended to be moved. The data record (15) is loaded into a buffer store (11), is checked by the buffer store (11) and is interpolated by means of an interpolator (14), in order to move the industrial robot (1) on the path element.

Description

technical field [0001] The invention relates to an industrial robot and a method for controlling the motion of the industrial robot. Background technique [0002] Industrial robots are generally execution machines, which are equipped with specific tools and are programmable for multiple axes of motion, especially with regard to orientation, position and workflow, to automatically handle objects. An industrial robot generally comprises a robot arm, a control unit and, if applicable, an actuator, which can be designed, for example, as a gripper for grasping a tool and is connected to the robot arm or fastened to the robot arm. A robot arm can basically be described as a movable part of an industrial robot and has a plurality of axes, which can be controlled, for example, by means of an electric drive of a control device, for the movement of the industrial robot so that, for example, an actuator moves along a given move along a given path. [0003] Conventional methods for co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1656G05B2219/36032G05B2219/40395G05B2219/34175
Inventor 马丁·魏斯曼弗雷德·许腾霍夫尔安德烈亚斯·哈格瑙尔京特·韦德曼
Owner 库卡实验仪器有限公司
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