Method And Apparatus For Implementing A Manipulator Process

• US 20130218332A1
• Filed: 02/18/2013
• Published: 08/22/2013
• Est. Priority Date: 02/21/2012
• Status: Active Grant

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Hofmann, Josef
• Granted Patent: US 9,102,058 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 19/0004 Braking devices brakes in general F16D
• CPC Class Codes: B25J 9/1651 acceleration, rate control

Abstract

A method for executing a manipulator process with at least two manipulator poses with a manipulator, in particular a robot, wherein the manipulator comprises at least one drive means having a motor and a brake, comprising the steps of:

• (S10) Assuming a manipulator pose;
• (S20) Stopping at least one drive means;
• (S30) Closing at least one brake of this drive means;
• (S40) Reduction of the energy supply to the drive means;
• (S50) Increasing the energy supply to the drive means;
• (S60) Opening the closed brake;
• (S70) Assuming another manipulator pose.

Claims

1. A method for performing a manipulator process, which comprises at least two manipulator poses, by a manipulator, in particular a robot, which comprises at least one drive means having a motor and a brake, comprising the steps of:

(S10) Assuming a manipulator pose;

(S20) Stopping at least one drive means;

(S30) Closing at least one brake of this drive means;

(S40) Reducing the energy supply to the drive means;

(S50) Increasing the energy supply to the drive means;

(S60) Opening the closed brake;

(S70) Assuming another manipulator pose.

2. The method according to claim 1,

characterized in that

the steps (S20)-(S70) are repeated.

3. The method according to claim 1,

characterized in that

the brake is closed and/or opened on the basis of at least the following criteria:

a time criterion;

a signal criterion;

a state criterion.

4. The method according to claim 3,

characterized in that

the brake is closed and/or opened on the basis of at least two of the criteria.

5. The method according to claim 3,

characterized in that

a time criterion based on at least one of the following times is prescribed:

an absolute time;

a process time;

a stop time since the stopping;

a time interval between the stop and the opening of the brake.

6. The method according to claim 3,

characterized in that

a signal criterion based on at least one of the following signals is prescribed:

a signal of a manipulator control system;

a signal of a manipulator process;

a signal of a tool control system;

a signal of a control station;

a signal of a device from the environment of the manipulator, which cooperates with the manipulator.

7. The method according to claim 3,

characterized in that

a state criterion based on at least one of the following conditions is prescribed:

a state of the manipulator;

a state of a manipulator control system;

a state of a manipulator process;

a state of a tool of the manipulator

a state of a control station;

a state of a device from the environment of the manipulator, which cooperates with the manipulator.

8. The method according to claim 3,

characterized in that

during the manipulator process at least one criterion is changed, in particular adapted.

9. The method according to claim 1,

characterized in that

at least one more drive means of the manipulator is moving, while the brake is closed.

10. The method according to claim 1,

characterized in that

to close at least one brake, a power supply to the brake is reduced, in particular interrupted.

11. The method according to claim 1,

characterized in that

a safety device monitors the opening and closing of the brake.

12. An apparatus for controlling a manipulator, in particular a robot,

characterized in that

the apparatus is adapted for performing a method according to claim 1.

13. A computer program that executes a method according to claim 1, when it is running in a device according to claim 12.

14. A computer program product with program code, which is stored on a machine-readable medium and comprises a computer program of claim 13.