STARTING A ROBOT ON A SPECIFIED WORKING PATH

In a method according to the invention for starting (S100) a robot (1) on a specified working path on the basis of a planned speed profile for the working path, the speed profile is planned (S10) using a specified profile parameter ($ACC1, $VEL1) and then modified (S85, S95) prior to starting on the...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	BURKHART STEFAN, SCHREITTMILLER ROBERT, HUTTENHOFER MANFRED, WIEDEMANN GUNTHER
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MANIPULATORS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING TRANSPORTING
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Beschreibung
Zusammenfassung:	In a method according to the invention for starting (S100) a robot (1) on a specified working path on the basis of a planned speed profile for the working path, the speed profile is planned (S10) using a specified profile parameter ($ACC1, $VEL1) and then modified (S85, S95) prior to starting on the working path if a specified speed, force, or acceleration limit is predicted to be exceeded with the speed profile planned using the specified profile parameter. 一种根据本发明的、用于基于针对预先设定的工作轨迹所规划的速度曲线以机器人(1)驶过(S100)该工作轨迹的方法，利用预先设定的曲线参数($ACC，$VEL)规划(S10)速度曲线，并且，如果在利用预先设定的曲线参数所规划的速度曲线中预测到对速度、力或加速度的预先设定的边界的超过，则在所述驶过之前修改(S85，S95)该速度曲线。