Method and system for transferring an end effector of a robot between one end effector pose and a further end effector pose

US12036677B2 · kind B2 · utility

Assignee

• KUKA Deutschland GmbH · DE

Inventors

• Felix Allmendinger · Augsburg, DE
• Markus Finke · Berlin, DE

Key dates

• Filing date: Jun 12, 2019
• Grant date: Jul 16, 2024
• Expiry date: Jun 9, 2041

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40431
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method for transferring an end effector of a robot between an end effector pose and a further end effector pose, for at least one axis of the robot includes specifying the same uniform progression of the position of the axis, particularly in advance, for the transfer between the one end effector pose and the one further end effector pose, and for transfers between the one end effector pose and a group of other further end effector poses, more particularly in dependence on activation of a control operating mode. For at least one further axis of the robot, different progressions of the position of the further axis are commanded, more particularly during the transferring, for the transfer between the one end effector pose and the one further end effector pose and the transfer between the one end effector pose and the at least one of the further end effector poses.