Patent · US Active

Method and device for adjusting and controlling manipulators

US9579792B2 · kind B2 · utility

1Cited by

9References

34Claims

0Family size

Assignee

KUKA Roboter GmbH · DE

Inventors

Gerhard Hietmann · Herbertshofen, DE
Martin Weiss · Margertshausen, DE

Key dates

Filing date	Nov 16, 2005
Grant date	Feb 28, 2017
Priority date	—
Expiry date	May 15, 2034

Classification

Technology area (CPC G)Physics
CPC primaryG05B2219/41154
WIPO fieldHandling
WIPO sectorMechanical engineering

Abstract

Methods and apparatus for adjusting and controlling a robotic manipulator based on a dynamic manipulator model. A model for gear mechanism friction torque is determined for at least one axis, based on driven axis speeds and accelerations, and on a motor temperature on the drive side of one of the motors that is associated with the axis. The model is used to determine target values, such as motor position or current. The gear mechanism friction torque that complies with the model is determined in accordance with a gear mechanism temperature.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.