Method for motion simulation of a manipulator

US11292130B2 · kind B2 · utility

Assignee

• Broetje-Automation GmbH · DE

Inventors

• Dirk Eickhorst · Varel, DE
• Marcel Meyer · Bensheim, DE

Key dates

• Filing date: Dec 3, 2015
• Grant date: Apr 5, 2022
• Expiry date: Mar 17, 2038

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40311
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

Various embodiments relate to a method for motion simulation for a manipulator, such as an NC-controlled manipulator, in a machining environment, wherein the manipulator is moved in an operating mode by a control apparatus and the machining environment is at least partly mapped in an environment model and wherein the method comprises computation of a trajectory plan by the control apparatus from a setpoint movement of the manipulator starting from an initial situation and based on a kinematic model of the manipulator, performance of a kinematic collision check based on the trajectory plan, the kinematic model and the environment model, and production of a prediction result based on the kinematic collision check. The method is characterized in that the initial situation corresponds to the current manipulator state. Further, some embodiments relate to a corresponding computer program with program code and to a corresponding system for motion simulation for a manipulator.