Method for controlling the movement of a robot

US6791292B2 · kind B2 · utility

Assignee

• KUKA Roboter GmbH · DE

Inventors

• Martin Weiss · Margertshausen, DE
• Thomas Finsterwalder · Augsburg, DE
• Gunther Merk · Augsburg, DE

Key dates

• Filing date: May 23, 2002
• Grant date: Sep 14, 2004
• Expiry date: May 23, 2022

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40215
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

Accompanied by the optimization of the possibilities of use of a robot, particularly with regards to low cycle times and high loads, damage to the robot through exceeding the energy absorbable by the structure is still prevented when robot parts strike against the mechanical structure as a result of faults or errors, according to the invention in a method for controlling the movement of a robot, the kinetic energy of moving robot members (Gi gi+1, . . . , gn) about an axis (Ai) is limited to the energy absorbable in damage-free manner by a mechanical buffer associated with the corresponding axis (Ai).