公开(公告)号：EP3313627A2

公开(公告)日：2018-05-02

申请号：EP16731512.6

申请日：2016-06-20

申请人： KUKA Roboter GmbH

发明人： BURKHART, Stefan ,  HAGENAUER, Andreas ,  HÜTTENHOFER, Manfred ,  SCHREITTMILLER, Robert

IPC分类号： B25J9/16

CPC分类号： B25J9/1666 ,  B25J9/1664 ,  B25J9/1669 ,  G05B19/042 ,  G05B2219/36043 ,  G05B2219/39219 ,  G05B2219/39433 ,  G05B2219/40371 ,  G05B2219/40519 ,  G05B2219/40521 ,  Y10S901/02 ,  Y10S901/49

摘要： The invention relates to a method for moving along a predetermined track with a robot (10) in an at least partially automated manner, said method comprising the steps of: - determining (S70) a deployment position (xn) on a current track section (
Y
a1 ) of the predetermined track, for which a distance characteristic variable, which is determined on the basis of a distance of a current position (
x
a1 ) of the robot relative to the current track section, satisfies a predetermined condition, in particular its value being less than or equal to the values of the distance characteristic variable of all positions in a partial area of the current track section, which is in particular complementary to the deployment position; and - moving (S80) to the deployment position with the robot, in particular as far as a deployment condition is satisfied.

公开(公告)号：EP3109012A1

公开(公告)日：2016-12-28

申请号：EP16001269.6

申请日：2016-06-06

申请人： KUKA Roboter GmbH

发明人： Ueberle, Marc-Walter ,  Rohmer, Matthias ,  Reichl, Tobias ,  Schreiber, Günter ,  Mueller-Sommer, Martin ,  Bonin, Uwe

IPC分类号： B25J9/16

CPC分类号： B25J13/085 ,  B25J9/0081 ,  B25J9/1674 ,  G05B2219/39319 ,  G05B2219/39346 ,  G05B2219/39433

摘要： Bei einem erfindungsgemäßen Verfahren zum Umschalten einer Steuerung (1) eines Roboters (2) in einen Handführ-Betriebsmodus (H) zum Bewegen des Roboters durch manuelles Aufprägen von Kräften und/oder Drehmomenten auf den Roboter wird infolge des Umschaltens und in Abhängigkeit von erfassten und/oder Soll-Gelenkkräften und/oder -drehmomenten und/oder einer Pose des Roboters eine Fehlerreaktion (R) ausgelöst (S40).

摘要翻译： 一种用于将机器人的控制切换为手动操作模式的方法，其中所述机器人可由用户手动地施加至所述机器人上的力或扭矩中的至少一个来移动，所述方法包括：检测所述机器人的关节力或关节扭矩中的至少一个 并且基于检测到的关节力和/或关节扭矩，目标关节力和/或目标关节扭矩或机器人的姿态中的至少一个来触发响应于切换的错误反应。

公开(公告)号：EP2203859A1

公开(公告)日：2010-07-07

申请号：EP08872708.6

申请日：2008-10-15

申请人： Root, Timothy, D.

发明人： Root, Timothy, D.

IPC分类号： G06F19/00

CPC分类号： B25J9/1602 ,  B25J9/1689 ,  G05B2219/39433 ,  Y10S901/01

摘要： A remote control device able to connect to a communications network generates robot control messages are used for the remote control of a robot also able to be connected to the communications network. The remote control device creates a robot control file and an indirect reference to the robot control file which a user can select for inclusion in a robot control message. Once selected, the indirect reference to a robot control file causes the indirectly referenced robot control file to be included in a message generated by the remote control device. The remote control device establishes a communications link with the communications network, and sends the message, with the robot control file, to the robot also connected to the communications network. The robot receives the robot control message and performs at least one action according to the instruction included in the robot control message.