Method and computer program for correcting errors in a manipulator system
US11065766B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Nov 9, 2016 |
| Grant date | Jul 20, 2021 |
| Priority date | — |
| Expiry date | Mar 12, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/50103
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The invention relates to a method for correcting errors in a manipulator system, wherein the manipulator system comprises at least one manipulator and is controlled by means of at least one manipulator program, wherein the method comprises the following method steps: ⋅providing at least one manipulator program, wherein the manipulator program comprises several operations; ⋅combining at least two of the operations to form at least one operation structure; ⋅defining at least one placement point (AP1, AP2), wherein the at least one placement point (AP1, AP2) forms the start andor the end of an operation structure (310); ⋅providing at least one reaction structure (320) and assigning the reaction structure (320) to an operation structure (310), wherein tlte at least one reaction structure (320) contains reaction operations (R1 to Rn), upon the execution of which, the manipulator program controls the manipulator system such that it is passed into a system state which corresponds to a placement point (AP1, AP2); ⋅executing the manipulator program and, if an error occurs, ⋅executing the reaction structure (320) such that the manipulator system is transferred into a system stare which corre…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.