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1. 发明申请

US20100198405A1 MOVEMENT CONTROLLER FOR ELASTIC ROBOT STRUCTURES 有权
标题翻译：弹性机器人结构的运动控制器
公开(公告)号：US20100198405A1
公开(公告)日：2010-08-05
申请号：US12601745
申请日：2008-05-07
申请人： Jens Hacker , Bjoern Schoell , Alexander Meissner
发明人： Jens Hacker , Bjoern Schoell , Alexander Meissner
IPC分类号： B25J9/16
CPC分类号： B25J9/1641 , G05B2219/39181 , G05B2219/39186 , G05B2219/41127 , G05B2219/41443 , G05B2219/41448
摘要： The invention relates to a control method for a painting robot, comprising the following steps: (a) a robot path is set using several path points that are to be traversed by a reference point of the robot and are each defined by space coordinates; (b) the space coordinates of the individual path points are converted into corresponding axis coordinates according to inverse robot kinematics, said axis coordinates reproducing the position of the individual robot axes in the respective path points; (c) axis-related regulators for the individual robot axes are triggered according to the converted axis coordinates; (d) axis-related driving motors are triggered in the individual robot axes by means of the associated axis-related regulators; (e) corrective path values for the individual path points are calculated according to a dynamic robot model, said corrective path values taking into account the elasticity and/or friction and/or inertia of the robot; (f) corrected axis coordinates for the individual path points are calculated from the non-corrected axis coordinates of the individual path points and the corrective path values; (g) the axis-related regulators are triggered using the corrected axis coordinates.
摘要翻译：本发明涉及一种用于绘画机器人的控制方法，包括以下步骤：（a）使用由机器人的参考点穿过的几个路径点设置机器人路径，并且各自由空间坐标定义; （b）根据反向机器人运动学将各个路径点的空间坐标转换成相应的轴坐标，所述轴坐标再现各个路径点中各个机器人轴的位置; （c）根据转换的轴坐标触发各个机器人轴的与轴相关的调节器; （d）轴相关驱动电机通过相关的轴相关调节器在各个机器人轴上触发; （e）根据动态机器人模型计算各个路径点的校正路径值，所述校正路径值考虑到机器人的弹性和/或摩擦力和/或惯性; （f）根据各个路径点的非校正轴坐标和校正路径值计算各个路径点的校正轴坐标; （g）使用校正的轴坐标触发与轴相关的调节器。

2. 发明授权

US08527092B2 Movement controller for elastic robot structures 有权
标题翻译：弹性机器人结构运动控制器
公开(公告)号：US08527092B2
公开(公告)日：2013-09-03
申请号：US12601745
申请日：2008-05-07
申请人： Jens Hacker , Bjoern Schoell , Alexander Meissner
发明人： Jens Hacker , Bjoern Schoell , Alexander Meissner
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： B25J9/1641 , G05B2219/39181 , G05B2219/39186 , G05B2219/41127 , G05B2219/41443 , G05B2219/41448
摘要： A predetermined robot path includes a plurality of path points defined by spatial coordinates. Spatial coordinates of the individual path points are converted in accordance with inverse robot kinematics into corresponding axis coordinates, the axis coordinates representing the position of the individual robot axes at respective path points. Axis-related controllers are actuated for individual robot axes in accordance with converted axis coordinates. Axis-related drive motors in individual robot axes are actuated by at least associated axis-related controllers. Path correction values are determined for individual path points on the robot path in accordance with a dynamic robot model, the path correction values taking account of the elasticity, friction, and/or inertia of the robot. Corrected axis coordinates are determined for the individual path points from uncorrected axis coordinates of individual path points and path correction values. The axis-related controllers are actuated with at least corrected axis coordinates.
摘要翻译：预定的机器人路径包括由空间坐标定义的多个路径点。各个路径点的空间坐标根据反向机器人运动学转换为相应的轴坐标，轴坐标表示各个机器人轴在各个路径点的位置。根据转换的轴坐标，针对各个机器人轴启动与轴相关的控制器。至少与相关的轴相关的控制器可以在单独的机器人轴上与轴相关的驱动电机启动。根据动态机器人模型确定机器人路径上的各个路径点的路径校正值，路径校正值考虑机器人的弹性，摩擦和/或惯性。针对各个路径点和路径校正值的未校正轴坐标的各路径点确定校正轴坐标。轴相关控制器至少被校正的轴坐标启动。

3. 发明授权

US09937619B2 Control method for a robot 有权
公开(公告)号：US09937619B2
公开(公告)日：2018-04-10
申请号：US14238824
申请日：2012-08-17
申请人： Alexander Meissner , Bjorn Schoell , Jens Hacker , Viktor Schretling , Thomas Hezel
发明人： Alexander Meissner , Bjorn Schoell , Jens Hacker , Viktor Schretling , Thomas Hezel
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16
CPC分类号： B25J9/1638 , G05B2219/39176 , G05B2219/39194
摘要： The invention relates to a control method for a robot (1) having a plurality of movable robot axes (2, 4, 6), in particular for a painting robot (1) or a manipulating robot, comprising the following steps: (a) predetermining a robot path by means of a plurality of path points through which a reference point of the robot (1) is intended to travel; (b) controlling drive motors of the individual robot axes (2, 4, 6) according to the predetermined robot path, such that the reference point of the robot (1) travels through the predetermined robot path; (c) precalculating the mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2) that occurs within at least one of the robot axes (2, 4, 6) between two joints when travelling through the robot path ahead; and also (d) adjusting the control of the drive motors of the robot axes (2, 4, 6) on the basis of the precalculated mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2), such that a mechanical overload is avoided.

4. 发明申请

US20150057798A1 CONTROL METHOD FOR A ROBOT 有权
标题翻译：机器人的控制方法
公开(公告)号：US20150057798A1
公开(公告)日：2015-02-26
申请号：US14238824
申请日：2012-08-17
申请人： Alexander Meissner , Bjorn Schoell , Jens Hacker , Viktor Schretling , Thomas Hezel
发明人： Alexander Meissner , Bjorn Schoell , Jens Hacker , Viktor Schretling , Thomas Hezel
IPC分类号： B25J9/16
CPC分类号： B25J9/1638 , G05B2219/39176 , G05B2219/39194
摘要： The invention relates to a control method for a robot (1) having a plurality of movable robot axes (2, 4, 6), in particular for a painting robot (1) or a manipulating robot, comprising the following steps: (a) predetermining a robot path by means of a plurality of path points through which a reference point of the robot (1) is intended to travel; (b) controlling drive motors of the individual robot axes (2, 4, 6) according to the predetermined robot path, such that the reference point of the robot (1) travels through the predetermined robot path; (c) precalculating the mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2) that occurs within at least one of the robot axes (2, 4, 6) between two joints when travelling through the robot path ahead; and also (d) adjusting the control of the drive motors of the robot axes (2, 4, 6) on the basis of the precalculated mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2), such that a mechanical overload is avoided.
摘要翻译：本发明涉及一种具有多个可移动机器人轴（2,4,6）的机器人（1）的控制方法，特别是一种用于涂装机器人（1）或操纵机器人的机器人（1），包括以下步骤：（a）通过机器人（1）的参考点要行进的多个路径点预先确定机器人路径; （b）根据预定的机器人路径控制各个机器人轴（2,4,6）的驱动马达，使得机器人（1）的参考点行进通过预定的机器人路径; （c）预先计算在两个关节之间的至少一个机器人轴（2,4,6）内发生的机械载荷（My1，Mx1，Fx1，Fy1，Fz1，Fx2，Fy2，Fz2，Mx2，My2，Mz2）当前进的机器人路径行进时; 并且（d）基于预先计算出的机械载荷（My1，Mx1，Fx1，Fy1，Fz1，Fx2，Fy2，Fz2，Mx2等）来调节机器人轴（2,4,6）的驱动马达的控制， My2，Mz2），从而避免机械过载。

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