公开(公告)号：US20200254610A1

公开(公告)日：2020-08-13

申请号：US16786636

申请日：2020-02-10

Applicant: Beckhoff Automation GmbH

Inventor： Clemens Maier ,  Armin Pehlivan ,  Christoph Zech ,  Peter Kastler ,  Thomas Morscher

IPC: B25J9/16 ,  B25J19/04 ,  B25J19/02 ,  B25J13/08

Abstract: A method for controlling an industrial robot provides that position data of the industrial robot are detected and environment data of an object in an environment of the industrial robot are captured with an environment detection unit. The position data and the environment data are transformed into a common figure space, in which a control figure is defined for the industrial robot and an object figure of the object is represented. A parameter set is created which takes a dimensioning of the control figure in the figure space into account. The parameter set comprises a temporal and spatial correlation of the position data and the environment data and takes into account the movement history of the industrial robot and/or of the object. An action instruction is generated for the industrial robot if the control figure and the object figure satisfy a predefined criterion in relation to each other.