Method And Device For Controlling Manipulators

• US 20110125321A1
• Filed: 11/19/2010
• Published: 05/26/2011
• Est. Priority Date: 11/23/2009
• Status: Active Grant

• Current Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Finkemeyer, Bernd
• Granted Patent: US 9,999,973 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: G05B 19/045 using logic state machines, consisting only of a memory or a programmable logic device containing the logic for the controlled machine and in which the state of its outputs is dependent on the state of its inputs or part of its own output states, e.g. binary decision controllers, finite state controllers
• CPC Class Codes: G05B 2219/23287 Executing sequential program concurrently with state machine instructions
• CPC Class Codes: G05B 2219/23289 State logic control, finite state, tasks, machine, fsm

Abstract

According to a method according to the invention for controlling at least one manipulator, in particular a robot, a plurality of control commands (P, B, F) are worked through, in that in a state machine (ZM) the respective command runs through an active state (-A), wherein in a state machine at least one control command runs through a preliminary state (-E) that is placed ahead of its active state and/or a post-operational state (-P) that is placed after its active state, and/or a plurality of control commands are processed at the same time.

Claims

1. A method for controlling at least one manipulator, in particular a robot, in which a plurality of control commands (P, B, F) are worked through, in that the respective control command runs through an active state (-A) in a state machine (ZM), wherein

in a state machine at least one control command runs through a preliminary state (-E) that is placed ahead of its active state and/or a post-operational state (-P) that is placed after its active state, and/or

a plurality of control commands are processed at the same time.

2. The method according to claim 1, characterized in that in a state machine at least one control command runs through a pre-processing state (-V) that is placed ahead of its preliminary state and/or a completed state (-D) that is placed after its post-operational state.

3. The method according to one of the preceding claims, characterized in that a state machine for a control command at least one additional control-command-specific state is provided, in particular a safety state (-STOP), error state (-F) and/or waiting state (-W).

4. The method according to one of the preceding claims, characterized in that a control command in a state (E, A, P) communicates with at least one control system component, in particular a sensor functionality and/or actuator functionality.

5. The method according to one of the preceding claims, characterized in that a control-command-specific and/or state-specific control system functionality is assigned to a control command.

6. The method according to one of the preceding claims, characterized in that in a state parameters are evaluated, resources are readied, interfaces are specified and/or cyclical data are received and/or sent.

7. The method according to one of the preceding claims, characterized in that a control system component, in particular a hardware component, signals readiness to a control command.

8. The method according to one of the preceding claims, characterized in that a sequential order is defined in which control commands run through an active state, or in which control commands access the same resource.

9. A control device for controlling at least one manipulator, in particular a robot, having at least one state machine (ZM), characterized in that the device is set up to carry out a method according to one of the preceding claims.

10. A computer program that carries out a method according to one of claims 1 through 8 when it runs in a control device according to claim 9.

11. A computer program product having program code that is stored on a machine-readable medium and that includes a computer program according to claim 10.