METHOD FOR CONTROLLING AN AUTOMATED WORK CELL
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Abstract
The invention relates to a control method applied to an automated work cell which includes at least one robot arm (4) having at least three degrees of freedom controlled according to a plurality of control axes (A1-A6; X, Y, Z, Rx, Ry, Rz); a control centre (8); a device (6) for controlling the robot arm (4), which includes a plurality of motor controllers (61-66) each controlling the operation of one motor (M1-M6), suitable for operating at least one portion of the robot arm (4); and a communication bus (14) between the control centre (8) and the device (6) for controlling the robot arm (4). Said method includes steps that consist of: a) sending instructions (Cri) emitted by the control centre (8) to control the control axes to a single arithmetic unit (10) belonging to the device (6) for controlling the robot (4); b) determining, within the arithmetic unit (10) and according to instructions received from the control centre (8), orders (0̂) for each one of the motors controlled by a motor controller; c) sending each motor controller an order, determined in step b), for the motor controlled by said motor controller.
33 Citations
26 Claims
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1-13. -13. (canceled)
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14. A method of controlling an automated work cell including
at least one robot arm with at least three degrees of freedom controlled according to several control axes, a control center, a device controlling the robot arm, including several motor controllers each controlling the functioning of a motor able to maneuver at least a part of the robot arm, a bus for communication between the control center and the control device of the robot arm, wherein the method comprises the steps of: -
a) transmitting instructions, sent by the control center for controlling the control axes, to a single computing unit belonging to the device controlling the robot arm; b) determining, in the computing unit and from several of the instructions received from the control center, instructions for each of the motors controlled by a motor controller; c) transmitting to each motor controller an order, determined at step b), for the motor controlled by this motor controller. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification