METHOD OF CONTROLLING MANIPULATOR OF INDUSTRIAL ROBOT, CONTROL SYSTEM AND INDUSTRIAL ROBOT

A method of controlling a manipulator (12) of an industrial robot (10) having a plurality of joints (20a-20f), the method comprising providing a candidate trajectory (34a) for the manipulator (12); determining at least one position dependent load value representative of at least one position depende...

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Bibliographische Detailangaben
Hauptverfasser:	NORRLÖF, Mikael, ENBERG, Markus, ANDERSSON, Hans, WESTRÖM, Jakob
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
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Beschreibung
Zusammenfassung:	A method of controlling a manipulator (12) of an industrial robot (10) having a plurality of joints (20a-20f), the method comprising providing a candidate trajectory (34a) for the manipulator (12); determining at least one position dependent load value representative of at least one position dependent load acting on the manipulator (12) for the candidate trajectory (34a); modifying the candidate trajectory (34a) based on the at least one position dependent load value to provide a modified trajectory (34b); and executing the modified trajectory (34b) by the manipulator (12). A control system (14) for controlling a manipulator (12) of an industrial robot (10) having a plurality of joints (20a-20f), and an industrial robot (10) comprising a manipulator (12) and a control system (14), are also provided.