Method for controlling a manipulator system
First Claim
1. A method for controlling a manipulator system including a manipulator control device and a at least one manipulator comprising several drives and a first converter for converting movement commands from the manipulator control device into control signals for actuating at least two of the several drives, the method performed by the manipulator control device and comprising the steps of:
- a) identifying one or more of the several drives that must be used to travel over a planned movement path of the manipulator system, the planned movement path defining programmed movement of a reference point traveling between at least two path points in Cartesian space;
b) checking whether the one or more identified drives that must be used to travel over the planned movement path of the manipulator system are connected to and being supplied with control signals by the first converter, and switching the first converter to connect to one of the one or more identified drives that is not connected to and supplying control signals to the identified drive; and
c) actuating the one or more connected, identified drives of the first converter in order to travel over the planned movement path of the manipulator system.
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Accused Products
Abstract
A method for controlling a manipulator system including a manipulator, several drives and a mobile platform A first converter for actuating at least two of the several drives is associated with the manipulator system. The method includes the steps of: a) identifying one of the drives of the manipulator system that is associated with the first converter and that must be used to travel over a current planned movement path of the manipulator system, and (b) actuating the one identified associated drive by means of the first converter, where the actuated drive is used for the manipulator system to travel over the planned movement path. One of the at least two drives that is not being actuated is stationary preferably fixed or secured by a mechanical brake.
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Citations
13 Claims
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1. A method for controlling a manipulator system including a manipulator control device and a at least one manipulator comprising several drives and a first converter for converting movement commands from the manipulator control device into control signals for actuating at least two of the several drives, the method performed by the manipulator control device and comprising the steps of:
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a) identifying one or more of the several drives that must be used to travel over a planned movement path of the manipulator system, the planned movement path defining programmed movement of a reference point traveling between at least two path points in Cartesian space; b) checking whether the one or more identified drives that must be used to travel over the planned movement path of the manipulator system are connected to and being supplied with control signals by the first converter, and switching the first converter to connect to one of the one or more identified drives that is not connected to and supplying control signals to the identified drive; and c) actuating the one or more connected, identified drives of the first converter in order to travel over the planned movement path of the manipulator system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 12, 13)
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9. A manipulator system comprising:
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a manipulator control device; at least one manipulator comprising several drives, the drives including electric motors; and a first converter configured to convert movement commands from the manipulator control device into control signals to actuate at least two of the several drives of the manipulator system, wherein the manipulator control device is configured to;
a) identify one or more of the several drives that must be used to travel over a planned movement path of the manipulator system, the planned movement path defining a programmed movement of a reference point traveling between at least two path points in Cartesian space, b) check whether the one or more identified drives are connected to and being supplied with control signals by the first converter, c) switch the first converter to connect to one of the one or more identified drives that is not connected to and supplying control signals to the identified drive, and d) actuate the one or more connected, identified drives connected to the first converter in order to travel over the planned movement path of the manipulator system. - View Dependent Claims (10, 11)
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Specification