Control Method for a Robot
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Accused Products
Abstract
An apparatus, a method and a control system for controlling an industrial robot with at least one axis of rotation and/or translation. The robot includes at least one actuator or motor at each of the axes for driving a movement of an arm of the robot and at least one sensor at each of the rotatable shafts. A dither-signal generator for generation of a periodic signal is used to provide a varying dither signal to a servo of the actuator. Automatic adaption of the dither signal is provided. A computer program for carrying out the method and a graphical user interface.
86 Citations
100 Claims
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1-50. -50. (canceled)
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51. An apparatus for controlling an industrial robot, which robot has at least one axis of rotation and/or translation, the apparatus comprising:
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at least one actuator at said at least one axis for driving a movement of an arm of the robot;
at least one sensor at each rotatable shaft of said arm;
a dither-signal generator for generation of a periodic signal to provide a varying dither signal to a servo of said at least one actuator; and
means for automatic adaption of the dither amplitude. - View Dependent Claims (52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 89, 90, 91, 92, 93)
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71. A method for controlling an industrial robot, which robot has at least one axis of rotation and/or translation and an apparatus for controlling the robot, the apparatus comprising at least one actuator at said at least one axis for driving a movement of an arm of the robot, at least one sensor at each rotatable shaft of said arm, a dither-signal generator for generation of a periodic signal to provide a varying dither signal to a servo of said at least one actuator, the method comprising:
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determining an amplitude of a current dither movement of said actuator;
calculating a deviation from a known reference value of the dither movement;
sending a control error signal representing the dither movement amplitude deviation to an integrating controller; and
providing an integrated reference signal to a multiplier means and by so doing cause the dither amplitude to be automatically adapted to a current operating state. - View Dependent Claims (72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88)
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95. A control system for an industrial robot, which robot comprises at least one axis of rotation and/or translation and a robot control apparatus, the robot apparatus comprising at least one actuator at each of said axes for driving a movement of an arm of the robot, at least one sensor at each of the rotatable shafts for measuring shaft angle or rotary position, a dither-signal generator for generation of a periodic signal to provide a varying dither signal to a servo of said at least one actuator, the control system comprising:
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computer program means for determining what the amplitude of the current dither movement should be; and
means for automatic adaption of the dither amplitude. - View Dependent Claims (96, 97, 98, 99)
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100. An apparatus for controlling an industrial robot, which robot has at least one axis of rotation and/or translation, the apparatus comprising:
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at least one actuator at said at least one axis for driving a movement of an arm of the robot;
at least one sensor at each rotatable shaft of said arm;
a dither-signal generator for generation of a periodic signal to provide a varying dither signal to a servo of said at least one actuator;
means for automatic adaption of the dither amplitude such as means to;
provide an AC output signal, inject the AC output signal into the speed control loop for the robot arm axis.
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Specification