Evaluation of dynamic brake torque in a robot

The invention concerns a method, device, and computer program product for evaluating a dynamic brake torque of a robot joint as well as to a robot arrangement comprising such a device. The device (32) comprises a brake torque evaluating unit (36) configured to provide a robot controller (34) with a...

Ausführliche Beschreibung

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Bibliographische Detailangaben
1. Verfasser:	Moberg, Stig
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MANIPULATORS MEASURING MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER,MECHANICAL EFFICIENCY, OR FLUID PRESSURE MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING TESTING TRANSPORTING
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Beschreibung
Zusammenfassung:	The invention concerns a method, device, and computer program product for evaluating a dynamic brake torque of a robot joint as well as to a robot arrangement comprising such a device. The device (32) comprises a brake torque evaluating unit (36) configured to provide a robot controller (34) with a speed command (vr); upon a motor (22) of the robot reaching a stable speed level set by the speed command, ensure that no integrating action is performed by the controller; activate a brake (20) of the motor and determine if the dynamic brake torque (Tbrake) of the brake fulfils a dynamic brake torque requirement using the speed command (vr), a proportional control factor (Kv) and the speed (v) of the motor after brake activation.