Monitoring of a kinematically redundant robot

A robot and kinematics technology, applied in the field of monitoring kinematics redundant robots, can solve problems such as errors

Active Publication Date: 2014-12-24
库卡实验仪器有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] Here, especially for the generalized inverse (J T ) # Influencing measurement errors and modeling errors can lead to estimated effective forces at robot-specific reference points error

Method used

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  • Monitoring of a kinematically redundant robot
  • Monitoring of a kinematically redundant robot
  • Monitoring of a kinematically redundant robot

Examples

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Embodiment Construction

[0054] figure 1 A kinematic redundant seven-axis lightweight structure robot 1 according to an embodiment of the present invention is shown. The robot has seven joints with joint angles q:q 1 -q 7 , TCP located on the tool (flange) and control device 2, the control device performs a method according to an embodiment of the present invention, the method will be referred to below figure 2 Detailed description.

[0055] In step S10, the joint torque τ.τ is detected by the joint torque sensor 1.1-1.7 of the detecting device for detecting joint force of the control device 2 1 -τ 7 . In step S20, based on these joint moments, by subtracting the inertia component, gravity component, driving component, and similar internal components of the robot from the detected joint force τ, the processing device 2.1 of the control device 2 estimates that it is externally induced based on the model. Joint strength

[0056] In step S30, the externally induced joint force It is mapped to the external...

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Abstract

The invention relates to a method of monitoring of a kinematically redundant robot (1). The method comprises the following steps: detecting joint force actted on a robot; determining reference points (TCP) specific to the robot and external effective force between surroundings; based on the detected force, determining another monitoring parameter irrelevant to the external force specific to the robot; and monitoring the determined external effective force and the other determined monitoring parameters (S50, S60).

Description

Technical field [0001] The invention relates to a method for monitoring a robot with redundant kinematics, a robot with a control device, and a computer program product with program code for executing the method. Background technique [0002] The robot can apply force to its surroundings intentionally (for example, through a joint operation) or unintentionally (for example, through a collision). In order to explain the present invention more compactly, the antiparallel couple (ie torque) is also referred to as a force in general. [0003] Known according to the company’s internal practice, detect the joint force τ, and estimate the externally induced joint force based on the joint force. The joint force is generated in the joint by the contact of the robot with the surrounding environment. [0004] Based on this joint force, it is possible to estimate and monitor the effective force in the workspace between the robot-specific reference point (especially the TCP of the robot) and the...

Claims

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Application Information

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IPC IPC(8): B25J9/18
CPCB25J9/1643B25J9/1676G05B2219/37624B25J9/1674G05B2219/39319G05B2219/40367Y10S901/28
Inventor 马克-瓦尔特·厄贝尔勒
Owner 库卡实验仪器有限公司
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