Method and device for decelerating a robot axis arrangement

US9956693B2 · kind B2 · utility

Assignee

• KUKA Deutschland GmbH · DE

Inventors

• Hartmut Keyl · Augsburg, DE
• Michael Thummel · Augsburg, DE
• Dietmar Tscharnuter · Friedberg, DE
• Tobias Weiser · Günzburg, DE

Key dates

• Filing date: Jul 23, 2014
• Grant date: May 1, 2018
• Expiry date: Sep 16, 2034

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/42284
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method for decelerating a robot axis arrangement having at least one output link includes steps of applying a braking force on the output link with a brake and, in so doing, controlling a driving force of a drive that acts on the output link, and/or controlling the braking force on the basis of a dynamic variable of the output link, wherein the dynamic variable is a function of the braking force.