公开(公告)号：US20160263744A1

公开(公告)日：2016-09-15

申请号：US15051002

申请日：2016-02-23

申请人： KUKA Roboter GmbH

发明人： Christoph Dzierzega ,  Markus Dinkhoff

IPC分类号： B25J9/16

CPC分类号： B25J9/1664 ,  G05B2219/40443 ,  G05B2219/40496

摘要： A method for altering an initially predetermined path of a robot arrangement having at least one robot includes selecting a portion of the initially predetermined path, altering the selected portion of the path, and predetermining an altered path based on the altered portion of the path. A deviation between the initially predetermined path and the altered path is determined, and a reaction is triggered if the deviation fulfills a predetermined condition for a reaction. In another aspect, a computer programming product, when executed by a computer, causes the computer to select a portion of the initially predetermined path, alter the selected portion of the path, predetermine an altered path based on the altered portion of the path, determine a deviation between the initially predetermined and the altered path, and trigger a reaction if the deviation fulfills a predetermined condition for a reaction.

摘要翻译： 用于改变具有至少一个机器人的机器人装置的初始预定路径的方法包括：选择初始预定路径的一部分，改变路径的选定部分，并且基于路径的改变部分预先确定改变的路径。 确定初始预定路径和改变的路径之间的偏差，如果偏差满足反应的预定条件，则触发反应。 在另一方面，一种计算机程序产品在由计算机执行时使计算机选择初始预定路径的一部分，改变路径的所选部分，基于路径的改变部分预先确定改变的路径，确定 初始预定和改变的路径之间的偏差，并且如果偏差满足反应的预定条件则触发反应。

公开(公告)号：US09902065B2

公开(公告)日：2018-02-27

申请号：US15051002

申请日：2016-02-23

申请人： KUKA Roboter GmbH

发明人： Christoph Dzierzega ,  Markus Dinkhoff

IPC分类号： G06F19/00 ,  B25J9/16

CPC分类号： B25J9/1664 ,  G05B2219/40443 ,  G05B2219/40496

摘要： A method for altering an initially predetermined path of a robot arrangement having at least one robot includes selecting a portion of the initially predetermined path, altering the selected portion of the path, and predetermining an altered path based on the altered portion of the path. A deviation between the initially predetermined path and the altered path is determined, and a reaction is triggered if the deviation fulfills a predetermined condition for a reaction. In another aspect, a computer programming product, when executed by a computer, causes the computer to select a portion of the initially predetermined path, alter the selected portion of the path, predetermine an altered path based on the altered portion of the path, determine a deviation between the initially predetermined and the altered path, and trigger a reaction if the deviation fulfills a predetermined condition for a reaction.