×

Method for control of an industrial robot

  • US 6,230,079 B1
  • Filed: 06/09/1998
  • Issued: 05/08/2001
  • Est. Priority Date: 01/31/1996
  • Status: Expired due to Fees
First Claim
Patent Images

1. A method for control of an industrial robot, which has a plurality of movement axes with a position sensor for each of said axes for supplying an output signal defining a current position of the axis to a control system for control of the axes of the robot, wherein continuously during operation of the robot, the following steps are taken for at least one mechanically critical point (i) of the robot:

  • calculating a relevant load (τ

    i) during a predetermined period of time (Δ

    t) on the basis of a position (φ

    1, φ

    2 . . . φ

    6) of the robot and a mathematical model of the robot, calculating a rate of fatigue (Δ







    Di
    )
    (Δ







    t
    )
    of the point on the basis of the calculated load and with knowledge of a fatigue strength (Nij) of material at the critical point, andadjusting a performance (φ

    axis,max, τ

    axis,max) of the robot in dependence on the rate of fatigue and a desired service life (tlife) of the robot.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×