Method And Device For Controlling An Auxiliary Tool Axis Of A Tool Being Guided By A Manipulator

• US 20100305757A1
• Filed: 05/26/2010
• Published: 12/02/2010
• Est. Priority Date: 05/29/2009
• Status: Active Grant

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Wiedemann, Günther, Sonner, Christian
• Granted Patent: US 9,616,526 B2
• Time in Patent Office: Days
• US Class Current: 700/262
• CPC Class Codes: B23K 26/02 Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
• CPC Class Codes: B23K 26/04 Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
• CPC Class Codes: B23K 26/082 Scanning systems, i.e. devices involving movement of the laser beam relative to the laser head
• CPC Class Codes: B23K 26/0884 in at least in three axial directions, e.g. manipulators, robots
• CPC Class Codes: B23K 26/20 Bonding soldering by means of radiant energy B23K1/005; joining of preformed plastics parts by heating using laser beam B29C65/16
• CPC Class Codes: B23K 26/21 by welding
• CPC Class Codes: B23K 26/38 by boring or cutting

Abstract

According to a method according to the invention for operating an additional tool axis (Z) of a tool (2) guided by a manipulator, in particular a robot (1), a position and/or an orientation of the tool in space are defined by axis positions (q1-q6) of the manipulator axes and a position value (f) of the tool axis, are saved and/or displayed, with an automatic conversion being carried out between the position value (f) and an axis position (e) of the tool axis which brings it about.

Claims

1. A method for operating an additional tool axis (Z) of a tool (2) guided by a manipulator, in particular a robot (1), having the steps:

defining a position and/or orientation of the tool in space by axis positions (q1-q6) of the manipulator axes, and

defining, saving and/or displaying a position value (f) of the tool axis,

characterized by an automatic conversion between the position value (f) and an axis position (e) of the tool axis which brings it about.

2. The method according to Claim 1, characterized in that the automatic conversion is carried out in a control device (10) of the manipulator.

3. The method according to one of the preceding claims, characterized in that the automatic conversion is carried out while the manipulator is in operation.

4. The method according to one of the preceding claims, characterized in that the position value (f) is dependent in a non-linear way on the axis position (e) which brings it about.

5. The method according to one of the preceding claims, characterized in that the position value (f) is independent of the axis positions (q1-q6) of the manipulator axes.

6. The method according to one of the preceding claims, characterized in that the position value (f) comprises a value in cartesian space, in particular a distance of a working point (F) or an orientation of a working line.

7. The method according to one of the preceding claims, characterized in that the conversion depends on a tool parameter (λ

).

8. The method according to one of the preceding claims, characterized in that the conversion depends on the tool, and that to this end a tool parameter (λ

) is specified or the tool guided by the manipulator is recognized automatically.

9. The method according to one of the preceding claims, characterized in that optionally the position value (f) or the axis position (e) of the tool axis which brings it about is defined, saved and/or displayed.

10. The method according to one of the preceding claims, characterized in that the axis position (e) of the tool axis is monitored.

11. The method according to one of the preceding claims, characterized in that the manipulator has at least six manipulator axes.

12. The method according to one of the preceding claims, characterized in that the tool has a laser head, in particular a remote laser head (2).

13. A control device (10) for a manipulator, in particular for a robot (1), for controlling the axis positions (q1, . . . q6, e) of the manipulator axes and of an additional tool axis,

characterized in that

the control device for carrying out a method is configured according to one of the preceding claims.

14. A computer program that carries out a method according to one of claims 1 through 12 when it runs in a control device according to claim 13.

15. A computer program product having program code that is stored on a machine readable medium and that comprises a computer program according to claim 14.