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Method and means for controlling a robot

A robot, robot arm technology used in the programming of such robots

Active Publication Date: 2013-08-14
UNIVERSAL ROBOT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The problem with such frameworks is that a certain level of mathematical knowledge is required to be able to define such coordinate systems, and it also takes a considerable amount of time to perform this task, even for those skilled in the field of robot programming and installation
[0008] The meaning of these and similar questions is very simple to the average customer who intends to use the robot, for example at various stations in a production plant, and who will be informed that there may not be simple answers to such related questions customers may seem distressed and incomprehensible

Method used

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  • Method and means for controlling a robot

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Embodiment Construction

[0045] A detailed description will be given below of a specific embodiment of the present invention including a robot having an encoder on each joint motor, in which it is possible to manually move a selected part of the robot, such as a tool attachment member or by making the robot jog Go to different positions to teach the robot a given position. The robot uses its joint encoders to measure the joint angles at different positions, and the control software uses the robot's motion model to convert these joint angles into poses. The robot can then be programmed to pass through these positions in sequence, where the robot is using the same encoder to reach the programmed posture, such as being used to measure the posture.

[0046] reference figure 1 , Showing a schematic representation of a programmable robot according to an embodiment of the present invention and main functional blocks used during the definition of geometric features, robot programming, and robot control during a...

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Abstract

The present invention relates to a user friendly method for programming a robot, where the method comprises placing the robot at a given position P0 in the surroundings and using a portion or point P of the robot (for instance the point to which a tool is attached during use of the robot) to define one or more geometrical features relative to the surroundings of the robot and establishing a relationship between the geometrical features and first coordinates of a robot-related coordinate system, whereby the robot can subsequently be instructed to carry out movements of specified portions of the robot relative to said surroundings by reference to said one or more geometrical features. By these means it becomes easy for users that are not experts in robot programming to program and use the robot. The geometrical features can according to the invention be stored in storage means and used subsequently also in other settings than the specific setting in which the programming took place.

Description

Technical field [0001] The present invention relates generally to the field of programmable robots, and more specifically to programming methods for such robots. Background technique [0002] Customers who purchase industrial robots generally want to be able to control or manipulate the robot, and program the robot with respect to various objects and boundaries in the surrounding environment of the robot, such as machines, objects or blank spaces, fixtures, conveyors, The pawl or vision system. Traditionally, this is done by defining a "frame" (coordinate system) that makes the robot's internal coordinate system (basic coordinate system) correlate with the coordinate system of the related object. The robot's "tool coordinates" and "base coordinates" can be referenced. [0003] The problem with this type of framework is that it requires a certain level of mathematical knowledge to be able to define such a coordinate system, and it also takes a considerable amount of time to perfor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/401
CPCY10S901/27G05D3/00G05B19/401B25J9/1656G05B2219/36322G05B2219/36401
Inventor 埃斯本 哈伦拜克 厄斯特高埃斯本·哈伦拜克·厄斯特高
Owner UNIVERSAL ROBOT
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