Method of operating an industrial robot in robot kinematic foreign coordinates

Abstract

Abstract Method of operating an industrial robot by formation of the difference between the output signal of a real-time path profile generator (2), working in robot-kinematic-foreign coordinates, and an actual-position signal given in robot-kinematic-foreign coordinates, formation of the sum (3) of the error-position signal, thus formed and given in robot-kinematic-foreign coordinates, and the output signal of the profile generator (2), transformation (4) of the adjusting-position signal, thus formed and given in robot-kinematic-foreign coordinates, into robot coordinates, conversion (5) of the adjusting-position signal, given in robot coordinates, into a desired-speed signal, formation of the difference between the desired-speed signal and an actual-speed signal (6) determined by means of a tachogenerator (10), formation of the difference of the desired-moment signal thus created and an actual-moment signal (7), sending of the adjusting-moment signal, thus formed, to a power switch (8) controlling the energy supply of a drive (9), and retransformation (12) of the actual-position signal, obtained in robot coordinates from a position transmitter (11), into robot-kinematic-foreign coordinates. <IMAGE>

Inventors

• 👤 Franz Peyr

Bibliographic Details