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MRK system and method for controlling an MRK system

A technology of control devices and end effectors, applied in the direction of program control, general control systems, control/regulation systems, etc., can solve problems such as limiting the range of use of manipulators, limited working range of manipulators, and huge computing expenses

Active Publication Date: 2018-06-08
KUKA SYSTEMS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Structural design measures, such as those to prevent crushing or pinching of persons or body parts, also often limit the range of use of the manipulator, because additional safety components are installed, or the working range of the manipulator is limited
Safety measures include, for example, a safe position and / or force adjustment of the end effector, resulting in a huge computational outlay

Method used

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  • MRK system and method for controlling an MRK system
  • MRK system and method for controlling an MRK system
  • MRK system and method for controlling an MRK system

Examples

Experimental program
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Embodiment Construction

[0045] especially, figure 1 Shown is an MRK system 100 comprising a manipulator 110 embodied as an industrial robot with at least three freely programmable axes of motion. Manipulator 110 guides end effector 111, which isfigure 1 The illustration in is the gripper. To this end, the gripper 111 is provided for grasping or manipulating an object 140 . In particular, the manipulator 110 is an MRK-capable manipulator such that collaboration between the manipulator 110 and the person 150 is possible.

[0046] For example, manipulator 110 may be configured to grasp and transport object 140 by means of end effector 111 . In the MRK system, a person 150 can, for example, take over the task of fine positioning the grasped object 140 so that the assembly steps are carried out correctly or carry out further, preferably auxiliary, tasks alongside the robot.

[0047] In particular, the end effector 111 can be provided with a sensor 130 or a plurality of sensors 130 which enable the dete...

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PUM

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Abstract

The invention relates to a method (200) for controlling a man-machine interaction system (100), and to an MRK system, the MRK system (100) comprising at least one manipulator (110) comprising an end effector (111), and the method comprising the following steps: use (210) of the end effector (111) in a first operating mode, the end effector (111) being operated in the first operating mode with reduced power (351; 451; 551); monitoring (230) whether a desired object (140) is manipulated when the end effector (111) is used in the first operating mode; and increasing (250) the power (352; 451; 551) used to operate the end effector (111) in order to use the end effector (111) in a second operating mode when the monitoring has indicated that a desired object (140) is being manipulated.

Description

technical field [0001] The invention relates to a human-robot collaboration system (MRK system) and a method for controlling the MRK system, wherein the MRK system comprises at least one manipulator with an end effector, and wherein the method provides The energy of the end effector is increased without putting the person in danger. Background technique [0002] The Human-Robot Collaboration System (MRK System) enables collaboration between humans and manipulators / robots by using modern safety technologies. [0003] The manipulator of the MRK system is a device that can physically interact with the surrounding environment. In MRK systems in particular industrial robots are used which are self-guided multipurpose manipulators equipped with three or more freely programmable axes of motion. Industrial robots are used either stationary or mobile in industrial applications and guide, for example, end effectors or workpieces. The end effector is here the last member of the kine...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1612G05B2219/40198G05B2219/40202G05B2219/40577G05B2219/40607G05B2219/42318B25J9/1674B25J9/1633B25J9/1697
Inventor P·格尔克
Owner KUKA SYSTEMS
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