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1. 发明授权

US10016894B2 Method and apparatus for controlling a robot 有权
公开(公告)号：US10016894B2
公开(公告)日：2018-07-10
申请号：US14802418
申请日：2015-07-17
申请人： KUKA Roboter GmbH
发明人： Gerhard Hietmann , Marc-Walter Ueberle , Christian Hartmann , Richard Schwarz , Richard Rudolf
IPC分类号： B25J9/16
CPC分类号： B25J9/1674 , B25J9/1676 , G05B2219/36468 , G05B2219/40371 , G05B2219/49141 , Y10S901/09
摘要： A method for controlling a robot in at least one pose of the robot wherein the robot can be operated in either a first mode of operation or a second mode of operation. In the second mode of operation the robot can be moved by manually applying a guiding force to the robot. The method includes determining a distance of a state variable of the robot from a first limit and then triggering a safety response when the distance satisfies a first condition and the robot is operating in the first mode of operation. When the robot is operating in the second mode of operation and the distance satisfies the first condition, the method includes not triggering the safety response, and motorically applying a positioning force to the robot in dependence on the determined distance so that the distance can be reduced when the robot is unobstructed.

2. 发明申请

US20160016314A1 Method And Apparatus For Controlling A Robot 有权
标题翻译：用于控制机器人的方法和装置
公开(公告)号：US20160016314A1
公开(公告)日：2016-01-21
申请号：US14802418
申请日：2015-07-17
申请人： KUKA Roboter GmbH
发明人： Gerhard Hietmann , Marc-Walter Ueberle , Christian Hartmann , Richard Schwarz , Richard Rudolf
IPC分类号： B25J9/16
CPC分类号： B25J9/1674 , B25J9/1676 , G05B2219/36468 , G05B2219/40371 , G05B2219/49141 , Y10S901/09
摘要： A method for controlling a robot in at least one pose of the robot wherein the robot can be operated in either a first mode of operation or a second mode of operation. In the second mode of operation the robot can be moved by manually applying a guiding force to the robot. The method includes determining a distance of a state variable of the robot from a first limit and then triggering a safety response when the distance satisfies a first condition and the robot is operating in the first mode of operation. When the robot is operating in the second mode of operation and the distance satisfies the first condition, the method includes not triggering the safety response, and motorically applying a positioning force to the robot in dependence on the determined distance so that the distance can be reduced when the robot is unobstructed.
摘要翻译：一种用于在所述机器人的至少一个姿态中控制机器人的方法，其中所述机器人可以在第一操作模式或第二操作模式中操作。在第二操作模式中，可以通过手动地向机器人施加引导力来移动机器人。该方法包括确定机器人的状态变量与第一极限的距离，然后当距离满足第一条件并且机器人在第一操作模式下操作时触发安全响应。当机器人在第二操作模式下操作并且距离满足第一条件时，该方法不包括触发安全响应，并且根据所确定的距离动力地向机器人施加定位力，从而可以减小距离当机器人畅通无阻时。

3. 发明申请

US20160350317A1 METHOD FOR CONVERTING AT LEAST ONE SAFETY CONFIGURATION FILE 审中-公开
标题翻译：用于转换至少一个安全配置文件的方法
公开(公告)号：US20160350317A1
公开(公告)日：2016-12-01
申请号：US15164153
申请日：2016-05-25
申请人： KUKA Roboter GmbH
发明人： Robert Bertossi , Giulio Milighetti , Christian Hartmann , Thomas Fuerst , Marc Ueberle , Alexander Melkozerov , Uwe Bonin
IPC分类号： G06F17/30
摘要： A method and a data processing system for converting at least one first safety configuration file of a control device into a second safety configuration file by means of a converter. Thereafter, the consistency of the first safety configuration file and the second safety configuration file is checked by means of a consistency checking unit. An identifier of the second safety configuration file is initially set to correspond with an identifier of the first safety configuration file, and is changed if an inconsistency is found during the consistency check. If the identifier of the second safety configuration file has been changed and no longer corresponds to the identifier of the first safety configuration file, the control device prevents activation of the second safety configuration file and manipulator.
摘要翻译：一种用于通过转换器将控制装置的至少一个第一安全配置文件转换成第二安全配置文件的方法和数据处理系统。此后，通过一致性检查单元检查第一安全配置文件和第二安全配置文件的一致性。初始设置第二安全配置文件的标识符以与第一安全配置文件的标识符相对应，并且如果在一致性检查期间发现不一致，则其被改变。如果第二安全配置文件的标识符已经改变并且不再对应于第一安全配置文件的标识符，则控制装置防止启动第二安全配置文件和操纵器。

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