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Process for controlling industrial robots, and related robots, systems and computer programs

  • US 7,650,205 B2
  • Filed: 04/18/2006
  • Issued: 01/19/2010
  • Est. Priority Date: 04/19/2005
  • Status: Active Grant
First Claim
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1. A method for controlling by means of a portable terminal, an industrial robot comprising a manipulator and a manipulator control unit, the method comprising:

  • providing the terminal and the manipulator control unit with a respective electronic control system, the control systems having respective first communication means for establishing a wireless main connection between said manipulator control unit and terminal, the main connection being used during a session of use of the terminal for transmitting to the manipulator control unit information concerning at least one of programming instructions and instructions of motion of the manipulator, and status conditions of a safety device (ES, EN) which the terminal is equipped with;

    providing the control systems of the manipulator control unit and the terminal with respective identity information (ID_CU, ID_TP);

    enabling said session of use through executing a coupling step of the terminal with the manipulator control unit, wherein the identity information (ID_TP) of the terminal control system is made available to the manipulator control unit control system and the identity information (ID_CU) of the manipulator control unit control s stern is made available to the terminal control system;

    wherein, during said coupling step, said main connection is used for making available to one of the control systems of said terminal and manipulator control unit the identity information (ID_TP) of the control system of the other one of said terminal and manipulator control unit;

    the method further comprisingproviding the control systems of the terminal and the manipulator control unit with respective second communication means, said second communication means being adapted to establish an auxiliary connection between the terminal and the manipulator control unit for executing of said coupling step, wherein said auxiliary connection can be established only when the terminal is placed in a substantially predefined position with respect to one of the manipulator and the manipulator control unit;

    using, during execution of said coupling step, said auxiliary connection for making available to the control system of said other one of said terminal and manipulator control unit the identity information (ID_CU) of the control system of said one of said terminal and manipulator control unit;

    using, once said coupling step has ended and during said session of use, the terminal for transmitting to the manipulator control unit, via said main connection, said information concerning at least one of programming instructions and instructions of motion of the manipulator, and status conditions of said safety device (ES, EN), after interruption of said auxiliary connection subsequent to a removal of the terminal from said substantially predefined position.

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