Process module library and programming environment for programming a manipulator process

US9102061B2 · kind B2 · utility

Assignee

• KUKA Roboter GmbH · DE

Inventors

• Volker Schmirgel · Augsburg, DE
• Gerhard Hietmann · Herbertshofen, DE
• Sebastian Reitelshofer · Nuremberg, DE
• Simon Klumpp · Bad Liebenzell, DE
• Johannes Kurth · Augsburg, DE

Key dates

• Filing date: Feb 25, 2011
• Grant date: Aug 11, 2015
• Expiry date: Sep 22, 2031

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40395
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A process module library according to the invention for programming a manipulator process, in particular an assembly process, comprises a plurality of parametrisable process modules (“search( )”, “peg_in_hole( )”, “gear( )”, “screw( )”) for carrying out a sub-process which in particular is common to different manipulator processes. Each of the process modules comprises a plurality of basic commands of a common set of basic commands for carrying out a basic operation, in particular an atomic or molecular operation, and a process module can be linked, in particular mathematically, to a further process module and/or a basic command. During programming, a manipulator can be controlled by means of a functional module of a graphic programming environment (100).