Method for restarting a robot

US9354626B2 · kind B2 · utility

Assignee

• ABB AG · US

Inventors

• Gunter Boerner · Sinsheim, DE
• Dietmar Eickmeyer · Ladenburg, DE

Key dates

• Filing date: Jan 29, 2009
• Grant date: May 31, 2016
• Expiry date: Nov 29, 2034

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/50103
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A method for restarting a robot after a premature interruption of a processing program, which controls it, at an interruption point. The robot has an atomizer apparatus for automatic coating of workpieces, and the processing program is used to preset a nominal movement of the atomizer apparatus with respect to a workpiece, which is to be coated and can be moved by means of a feed device, and to preset the associated nominal atomizer parameters. After the interruption of the processing program, the atomizer apparatus is first of all moved to a restarting point, which is located on the nominal movement path and is located ahead of the interruption point. After this, the atomizer apparatus is then moved on the nominal movement path, corresponding to a predeterminable velocity function, to a transfer point which is located on the nominal movement path and is located behind the interruption point. The atomizer apparatus is switched on again between the restarting point and the transfer point. The nominal atomizer parameters which are provided by the processing program are matched and are applied at least once, between the restarting point and the transfer point, to the respective curren…