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1.发明授权公开(公告)号：US09827674B2
公开(公告)日：2017-11-28
申请号：US14969513
申请日：2015-12-15
申请人： KUKA Roboter GmbH
发明人： Holger Tronnier , Günther Wiedemann , Stefan Burkhart , Andreas Aurnhammer , Manfred Hüttenhofer
CPC分类号： B25J9/1664 , B25J9/1674 , B25J19/0004 , G05B2219/39097 , G05B2219/39098 , Y10S901/02 , Y10S901/09
摘要： A method for the conditional stopping of at least one manipulator and a manipulator assembly. The manipulator travels along a path which has a stopping point. In order to be able to stop the manipulator at the stopping point, a braking point on the path is calculated as a function of a speed of the manipulator. If the status of a travel condition variable necessitates braking of the manipulator in the event of exceeding the braking point, the manipulator is braked.
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2.发明申请Method and Manipulator Assembly for the Conditional Stopping of at Least One Manipulator on a Path 有权用于在路径上至少一个操纵器的有条件停止的方法和机械手组件公开(公告)号：US20160176049A1
公开(公告)日：2016-06-23
申请号：US14969513
申请日：2015-12-15
申请人： KUKA Roboter GmbH
发明人： Holger Tronnier , Günther Wiedemann , Stefan Burkhart , Andreas Aurnhammer , Manfred Hüttenhofer
CPC分类号： B25J9/1664 , B25J9/1674 , B25J19/0004 , G05B2219/39097 , G05B2219/39098 , Y10S901/02 , Y10S901/09
摘要： A method for the conditional stopping of at least one manipulator and a manipulator assembly. The manipulator travels along a path which has a stopping point. In order to be able to stop the manipulator at the stopping point, a braking point on the path is calculated as a function of a speed of the manipulator. If the status of a travel condition variable necessitates braking of the manipulator in the event of exceeding the braking point, the manipulator is braked.
摘要翻译： 一种用于至少一个操纵器和操纵器组件的有条件停止的方法。 操纵器沿着具有停止点的路径行进。 为了能够在停止点处停止操纵器，路径上的制动点根据机械手的速度计算。 如果行驶状态变量的状态需要在超过制动点的情况下制动机械手，则制动机械手。
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公开(公告)号：US10220514B2
公开(公告)日：2019-03-05
申请号：US14962760
申请日：2015-12-08
申请人： KUKA Roboter GmbH
发明人： Holger Tronnier , Günther Wiedemann , Stefan Burkhart , Andreas Aurnhammer , Manfred Hüttenhofer
IPC分类号： B25J9/16
摘要： A method for controlling a manipulator, with the method being particularly suitable for the respecting of predetermined monitoring limits. The method operates by initiating a halting movement or a speed capping based on an identified actual override trend, and is thus suitable, in particular, for path movements by means of spline interpolation.
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公开(公告)号：US20170197310A1
公开(公告)日：2017-07-13
申请号：US15324493
申请日：2015-07-07
申请人： KUKA Roboter GmbH
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J9/1666 , G05B2219/35472 , G05B2219/40497
摘要： A controllable machine comprises a mechanism having at least two components arranged relative to one another and movable relative to one another with respect to an axis by at least one drive, a memory, and a control device coupled to the at least one drive. The control device controls the at least one drive to move the mechanism in a first operating mode such that the mechanism moves along a movement path and records the movement path in the memory. The control device controls the at least one drive on the basis of the movement path recorded in the memory in a second operating mode such that the mechanism moves along the movement path recorded in the memory.
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公开(公告)号：US20160176050A1
公开(公告)日：2016-06-23
申请号：US14962760
申请日：2015-12-08
申请人： KUKA Roboter GmbH
发明人： Holger Tronnier , Günther Wiedemann , Stefan Burkhart , Andreas Aurnhammer , Manfred Hüttenhofer
IPC分类号： B25J9/16
CPC分类号： B25J9/1671 , B25J9/1676 , G05B2219/39097 , G05B2219/39098 , G05B2219/40475 , Y10S901/02 , Y10S901/16 , Y10S901/28
摘要： A method for controlling a manipulator, with the method being particularly suitable for the respecting of predetermined monitoring limits. The method operates by initiating a halting movement or a speed capping based on an identified actual override trend, and is thus suitable, in particular, for path movements by means of spline interpolation.
摘要翻译： 一种用于控制机械手的方法，该方法特别适用于遵守预定的监视限制。 该方法通过基于所识别的实际超驰趋势启动停止运动或速度上限来进行操作，因此特别适用于通过样条插值的路径运动。
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