Method and Device for Controlling Motion of an Industrial Robot With a Position Switch
First Claim
1. A method for controlling motion of a multi-axis industrial robot or manipulator arranged with a robot control unit, the robot or the control unit also comprising at least one first computer running a servo controller, the method comprising:
- registering a motion limit for at least one axis of said robot arm,providing a reference signal for a robot position to a robot controller, andmaking a measurement of a position of at least one axis of said robot arm for the purpose of limiting the motion of an arm of said robot, andproviding a motion limit of said at least one said arm by running in at least one computer a model-based evaluator of a position switch, modelling a position of said at least one axis of said robot arm dependent on said reference signal and comparing the modelled position to the measured position.
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Accused Products
Abstract
A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit. The robot or the control unit includes at least one first computer running a servo controller. A motion limit is configured for at least one axis of the robot arm. A reference signal for a robot position is sent to a robot controller together with a measurement of a position of the robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator for the purpose of limiting the motion of an arm of the robot.
76 Citations
45 Claims
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1. A method for controlling motion of a multi-axis industrial robot or manipulator arranged with a robot control unit, the robot or the control unit also comprising at least one first computer running a servo controller, the method comprising:
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registering a motion limit for at least one axis of said robot arm, providing a reference signal for a robot position to a robot controller, and making a measurement of a position of at least one axis of said robot arm for the purpose of limiting the motion of an arm of said robot, and providing a motion limit of said at least one said arm by running in at least one computer a model-based evaluator of a position switch, modelling a position of said at least one axis of said robot arm dependent on said reference signal and comparing the modelled position to the measured position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A control device for controlling motion of a multi-axis industrial robot or manipulator arranged with a robot control unit, said device comprising:
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at least one first computer for servo control, a reader configured to read an actual position value and compare the actual position value to a reference signal for the purpose of limiting motion of an arm of said robot in at least one axis, a second computer running a model-based evaluator configured to model with a servo loop model a first position of said at least one axis dependent on said reference signal, compare the modelled first position with a measured position of the at least one axis, and generate a control signal based on a function of the modelled first position. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 44)
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35. A robot control system for a multi-axis industrial robot or manipulator, the system comprising:
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a robot control unit, the robot or the control unit also comprising at least one first computer running a servo controller, means for registering a motion limit for at least one axis of said robot arm, means for providing a reference signal for a robot position to a robot controller, means for making a measurement of a position of at least one axis of said robot arm for the purpose of limiting the motion of said at least one axis of said robot, at least one second computer running a model-based evaluator comprising means for modelling by means of a servo loop model a first position of the at least one arm dependent on said reference signal, means for comparing the modelled first position with a measured position of said at least one axis, and means for generating a control signal based on a function of the modelled first position. - View Dependent Claims (36, 37, 38, 39, 40, 41, 45)
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42. A computer program, comprising:
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a computer readable medium; and computer program instructions recorded on the computer readable medium and executable by a processor for carrying out a method for controlling motion of a multi-axis industrial robot or manipulator arranged with a robot control unit, the robot or the control unit also comprising at least one first computer running a servo controller, the method comprising; registering a motion limit for at least one axis of said robot arm, providing a reference signal for a robot position to a robot controller, making a measurement of a position of at least one axis of said robot arm for the purpose of limiting the motion of an arm of said robot, and providing a motion limit of said at least one said arm by running in at least one computer a model-based evaluator of a position switch, modelling a position of said at least one axis of said robot arm dependent on said reference signal and comparing the modelled position to the measured position.
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43. (canceled)
Specification