Method and apparatus for implementing a manipulator process

• US 9,102,058 B2
• Filed: 02/18/2013
• Issued: 08/11/2015
• 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
• Primary Examiner(s): MANCHO, RONNIE M
• Application Number:
  US13/769,666
• Publication Number:
  US 20130218332A1
• Time in Patent Office: 904 Days
• Field of Search: 701/245, 318/568.16, 318/574, 731/21, 738/620.8, 606/130, 901/20, 901/9, 901/1, 901/19, 188/72.4, 188/366, 700/245, 219/110, 219/108
• US Class Current: 1/1
• 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:

Assuming a manipulator pose;

Stopping at least one drive after reaching the manipulator pose;

Closing at least one brake of this drive;

Reducing the energy supply to the drive;

determining whether a pause duration has lapsed after reducing energy supply to the drive;

Increasing the energy supply to the drive;

Opening the closed brake; and

Assuming another manipulator pose.

2. The method according to claim 1, further comprising:

repeating the steps of stopping, closing, reducing determining, increasing, opening, and assuming another manipulator pose.

3. The method according to claim 1, wherein the brake is closed and/or opened on the basis of at least one the following criteria:

a time criterion;

a signal criterion;

or

a state criterion.

4. The method according to claim 3, wherein the brake is closed and/or opened on the basis of at least two of the criteria.

5. The method according to claim 3, wherein 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;

or

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

6. The method according to claim 3, wherein 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;

or

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

7. The method according to claim 3, wherein 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;

or

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

8. The method according to claim 3, further comprising:

changing at least one criterion during the manipulator process.

9. The method according to claim 1, wherein at least one more drive means of the manipulator is moving, while the brake is closed.

10. The method according to claim 1, wherein closing at least one brake comprises reducing a power supply to the brake.

11. The method according to claim 1, further comprising:

monitoring the opening and closing of the brake with a safety device.

14. The method of claim 8, wherein changing at least one criterion during the manipulator process comprises adapting the criterion.

15. The method of claim 10, wherein reducing the power supply to close the at least one brake comprises interrupting the power supply.

12. An apparatus for controlling a manipulator, in particular a robot, the apparatus comprising a storage medium including program code that, when executed by the apparatus, causes the apparatus to:

move the manipulator to assume a manipulator pose;

stop at least one drive after reaching the manipulator pose;

close at least one brake of the drive;

reduce the energy supply to the drive;

determine whether a pause duration has lapsed after reducing energy supply to the drive;

increase the energy supply to the drive;

open the closed brake; and

move the manipulator to assume another manipulator pose.

13. A computer program product having programming code stored on a non-transitory machine-readable data medium, the programming code configured to, when executed by a computer, cause the computer to:

move a manipulator to assume a manipulator pose;

stop at least one drive after reaching the manipulator pose;

close at least one brake of the drive;

reduce the energy supply to the drive;

determine whether a pause duration has lapsed after reducing energy supply to the drive;

increase the energy supply to the drive;

open the closed brake; and

move the manipulator to assume another manipulator pose.