Process for moving a robot

• US 20070142966A1
• Filed: 12/20/2005
• Published: 06/21/2007
• Est. Priority Date: 12/20/2005
• Status: Abandoned Application

• Current Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Inventors: Klueger, Peter, Volcic, Ed, Bunsendal, Jens, Mirza, Khalid
• Application Number:
  US11/313,179
• Publication Number:
  US 20070142966A1
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: G05B 19/4142 characterised by the use of a microprocessor G05B19/4141 takes precedence
• CPC Class Codes: G05B 2219/40519 Motion, trajectory planning
• CPC Class Codes: G05B 2219/43174 Simulating cam motion mechanism
• CPC Class Codes: G05B 2219/50218 Synchronize groups of axis, spindles

Abstract

A process for moving a robot, especially an articulated arm robot, in which motions of axes of the robot are synchronized with a primary motion. In particular, positions of the axes are assigned to the position of the primary motion via a path table.

Claims

1. A process for moving a robot having motion aspects and further robot axes of motion, the process comprising:

designating a motion aspect of the robot as a primary motion; and

synchronizing motions of axes of the robot with the primary motion.

2. A process in accordance with claim 1, wherein the primary motion is the motion of a primary axis.

3. A process in accordance with claim 2, wherein the primary axis is an axis of the robot.

4. A process in accordance with claim 2, wherein the primary axis is an external axis that defines a motion of the entire robot.

5. A process in accordance with claim 4, wherein the primary axis is an axis of rotation, about which the entire robot moves.

6. A process in accordance with claim 4, wherein the primary axis is a linear axis.

7. A process in accordance with claim 1, wherein the motions of axes of the robot include secondary axes and the synchronization of the motion of the secondary axes with the primary motion includes using position encoders provided at the path of the primary motion.

8. A process in accordance with claim 1, wherein positions of the axes are assigned to the position of the primary motion via a path table.

9. A process in accordance with claim 1, wherein the primary motion is the motion of a point along the robot, with such brought about by movement of the entire robot or some portion thereof.

10. A process for moving a robot, the process comprising:

providing an articulated arm robot with robot movement aspects including an entire robot movement motion aspect and motion aspects as to movement about each of a plurality of robot axes;

designating a motion aspect of the robot as a primary motion; and

synchronizing motions of axes of the robot with the primary motion.

11. A process in accordance with claim 10, wherein the primary motion is the motion of a primary axis.

12. A process in accordance with claim 11, wherein the primary axis is an axis of the robot.

13. A process in accordance with claim 11, wherein the primary axis is an external axis that defines entire robot movement motion aspect for motion of the entire robot.

14. A process in accordance with claim 11, wherein the primary axis is an axis of rotation, about which the entire robot moves providing said entire robot movement motion aspect.

15. A process in accordance with claim 11, wherein the primary axis is a linear axis.

16. A process in accordance with claim 10, wherein the motions of axes of the robot include secondary axes and the synchronization of the motion of the secondary axes with the primary motion includes using position encoders provided at the path of the primary motion.

17. A process in accordance with claim 16, wherein positions of the axes are assigned to the position of the primary motion via a path table.

18. A process for moving a robot, the process comprising:

providing a system with an articulated arm robot with robot movement aspects including an entire robot movement motion aspect and motion aspects as to movement about each of a plurality of robot axes;

providing another device having motion aspects;

designating a motion aspect of the robot or another device as a primary motion;

synchronizing motions of axes of the robot with the primary motion.

19. A process in accordance with claim 18, wherein the another device is another articulated arm robot and said primary motion is the motion of an axis of one of said articulated arm robot and another articulated arm robot.

20. A process in accordance with claim 18, wherein the primary motion is the motion of a point along one of said articulated arm robot and another articulated arm robot, with such brought about by movement of the entire said articulated arm robot or said another articulated arm robot or some portion thereof.