Method and device for stopping a manipulator

US8583285B2 · kind B2 · utility

Assignee

• KUKA Laboratories GmbH · DE

Inventors

• Andreas Aurnhammer · Birkenfeld, DE
• Markus Eisensehr · Augsburg, DE
• Andreas Hagenauer · Friedberg, DE
• Manfred Hüttenhofer · Meitingen, DE

Key dates

• Filing date: Sep 3, 2010
• Grant date: Nov 12, 2013
• Expiry date: Jan 21, 2032

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/39098
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method for stopping a manipulator includes the steps of advance simulation of stopping distances for different states and/or braking force profiles of the manipulator, estimating of an upper limit as the stopping distance on the basis of the stopping distances simulated in advance, monitoring a zone, and decelerating the manipulator when a zone is violated, wherein the monitored zone is defined variably during operation on the basis of the stopping distance of the manipulator.