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WO2019166229A1 - Procédé pour la génération automatique d'une trajectoire de déplacement et produit de programme informatique associé - Google Patents

Procédé pour la génération automatique d'une trajectoire de déplacement et produit de programme informatique associé Download PDF

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Publication number
WO2019166229A1
WO2019166229A1 PCT/EP2019/053689 EP2019053689W WO2019166229A1 WO 2019166229 A1 WO2019166229 A1 WO 2019166229A1 EP 2019053689 W EP2019053689 W EP 2019053689W WO 2019166229 A1 WO2019166229 A1 WO 2019166229A1
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WO
WIPO (PCT)
Prior art keywords
movement
program
machine
instructions
alternative
Prior art date
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Ceased
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PCT/EP2019/053689
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German (de)
English (en)
Inventor
Yevgen Kogan
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
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KUKA Deutschland GmbH
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Publication date
Application filed by KUKA Deutschland GmbH filed Critical KUKA Deutschland GmbH
Publication of WO2019166229A1 publication Critical patent/WO2019166229A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1658—Programme controls characterised by programming, planning systems for manipulators characterised by programming language
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40519—Motion, trajectory planning

Definitions

  • the invention relates to a method for automatic Erzeu conditions a movement trajectory of a reference point of au tomatically controlled machine, wherein the machine has Antrie be, which are adapted to move the reference point of the machine Ma in space and controlled by a control device which is formed to control the drives of the machine on the basis of the automatically generated movement trajectory as a reference variable by means of a motion control, the movement trajectory being based on at least one first movement instruction to be executed in a smoothing mode and at least one second movement instruction following one of the first movement instruction Maschinenschulspro programs by means of a path planning program automatically he testifies, being in the machine motion program in the process flow between the first movement instruction and a subsequent second movement instruction itself a conditional program branch is located, which, depending on a trigger the event, a first alternative of a second movement statement or at least one second alternative of a second movement instruction.
  • the invention also relates to an associated computer program product.
  • EP 2 022 608 B1 describes a method for generating a trajectory of a movement system in which a trajectory is defined as a sequence of one or more path segments (movement steps), wherein a suppression of a suppression of a first velocity profile and fading of a superimposed area of a subsequent second velocity profile takes place within a so-called mixing radius there.
  • Such masking out of a first velocity profile and such subsequent insertion of a subsequent second velocity profile is generally also referred to as "over-grinding.” Flushing is described, for example, in robotics and in machine tools in the context of so-called PTP control (English: point In the execution of movement instructions, a reference point of the machine to be controlled (for example, a robot arm or a machine tool) gradually becomes from a first space point to a second one
  • PTP control English: point In the execution of movement instructions, a reference point of the machine to be controlled (for example, a robot arm or a machine tool) gradually becomes from a first space point to a second one
  • a synchronous PTP control is generally known in which not only the target points to be approached of the individual movement instructions are retransformed in order to control the axes of the machines Then al lein on this basis on Achskoordinateneben angezusteu ren, but also the motion profiles are planned from start to finish point in a path planning program and indeed in terms of their speed profiles and
  • a train planning motion instructions may be provided that for each driven degree of freedom of the machine, crizoswei se each driven joint of a robot arm, the maximum speed and taking into account starting point to target point of movement, a movement time is calculated for each joint, the Joint with the longest movement duration is defined as a leading axis and the other ren, remaining degrees of freedom or joints in their speed profiles and / or acceleration profiles are adapted so that all degrees of freedom or joints begin at the same time with their individual movements and also simultaneously with their end individual movements.
  • the movement instructions of the Machine motion program which may be implemented in a sequence control, passed to a motion control and there transformed in a path planning program in an individual speed profiles and / or acceleration profiles of the degrees of freedom of the machine or joints of the robot arm to the drives of the machine or the driven joints of the robot arm Speed profiles and / or the acceleration profiles accordingly to move controlled by atecssteue move.
  • the motion control may include the path planning program, ie, a path control, and a motion execution control executing the motions.
  • the machine motion program towards may be part of the flow control.
  • the motion control and the sequence control may be separate
  • sequence control is implemented in a preferably non-real-time capable control part, whereas at least the motion execution control or the entire motion control, comprising the motion execution control and the path control, is implemented in a real-time capable control part.
  • Machine motion programs may generally include conditional program branches.
  • a conditional program branch which may be, for example, an IF statement or a WHILE statement
  • the target point to be approached next depends on the triggering event, so that it is not pre-determined in time before the occurrence of the event which target point of if necessary, to use several alternative possible target points. Because of this ambiguity in advance, destinations of move instructions across a program subtraction generally can not be approached.
  • the object of the invention is to provide a method for automatically generating a movement trajectory of a reference point of a machine to be controlled automatically, with the blending of the target points of movement instructions even over conditional program branches away is possible.
  • a method for automatically generating a movement trajectory of a loading zugsembls an automatically controlled machine the machine has drives that are designed to move the loading zugsrios the machine in space and indeed angesteu ert by a control device which is formed to control the drives of the machine based on the automatically generated movement trajectory as a reference variable by means of a BeWe control, the movement trajectory on the basis of at least one in a smoothing mode from supplying the first movement instruction and at least one of the first movement instruction following secondthsungsan instruction of a run by the control device Maschi nenschulsprogramms is automatically generated by means of a path planning program, wherein in the machine motion program in the flow direction between the first movement instruction and a subsequent second movement instruction is a conditional Program branching, which, depending on a triggering event, specifies a first alternative of a second movement instruction or at least a second alternative of a second movement instruction, comprising the steps of:
  • the machine to be controlled automatically by the method can be a machine tool or, in particular, a robot.
  • the robot may include a robot arm having a plurality of links connected by joints, the links being movable by means of drives to automatically adjust the links of the robot arm in accordance with a robot program.
  • the drives of the machine, in particular of the robot can in particular comprise electric motors which are controlled by a control device, in particular a drive control of the control device, in particular can be driven in a controlled manner.
  • the motors can be equipped with gearboxes.
  • the control device may include the drive controller, a motion controller, and a scheduler.
  • the control components can be combined in one common control unit or designed as separate control components and connected to one another via communication links.
  • the control device in particular on the sequence control we can at least one machine movement program stored and set up for execution.
  • the Steuervor direction may comprise a computer program product comprising a ma chine-readable carrier is stored on the program code chert, which is readable from the machine, in particular by a Robo ter Kunststoffung of the robot, so that the machine or the robot trains and / or set up is to perform he inventive method when the program code is executed by the machine or the robot or its control.
  • the machine motion program which may be a robot program so far, contains motion instructions, in particular the motion instructions, according to which a pre-defined reference point in space is to be moved through the machine or robotic arm.
  • the reference point can be a tool reference point, which is also known as TCP (Tool Center Point).
  • a tool reference point may be a real or virtual point on a tool handled by the machine, in particular the robot arm.
  • the reference point may also be a flange flange coordinate system fixedly connected to the flange of the robot arm.
  • the path planning program of the path control system provides algorithms, models and / or computational rules that directly create or indirectly create a motion trajectory for the reference point based on the motion instructions contained in the machine motion program such that motion profiles, in particular velocity profiles and / or acceleration profiles, are axis-related or Cartesian the path planning program is generated.
  • the corre sponding motion profiles, in particulardestinationsprofi le and / or acceleration profiles are then transferred in particular in achs termeer form to the motion execution control, which in turn the drives i.
  • the motors of the machine or the robot arm can also be controlled or regulated on the drive level.
  • the movement trajectory is a graphical representation of the course of motion that the reference point passes through in space.
  • the movement trajectory is insofar the track on which the reference point moves when the machine or robot is automatically controlled according to the machine motion program.
  • the movement trajectory may also comprise speed data, in particular with respect to interpolation points of the course of the movement or of the track.
  • a motion trajectory section generally represents a subsection of the entire motion trajectory.
  • the respective motion trajectory sections will be those parts of several possible motion trajectories that may alternately occur in the machine motion program due to the conditional program branching, as long as that for the conditional program branching event has not yet taken place and therefore it is not yet clear which of the two or more possible movement trajectory sections actually takes place.
  • Blending is used, for example, in robotics and machine tools as part of a so-called PTP control in which motion instructions are executed become.
  • a reference point of the machine to be controlled for example, a robot arm or a machine tool
  • the respective bases of the movement instructions may not be achieved more directly, but avoiding a complete stop of the machine or the robot arm or its loading zugsixies
  • the reference point is moved only in the vicinity of such a sol cher grounded base so as to drive equal to the next base of the next Be wegungsan rejoin ,
  • Such a sanding motion is thus characterized by the fact that at such intermediate Stel settings (over-grinding bases) is passed without stopping the Be zugsembls.
  • the target points to be approached are firmly predetermined by the respective movement instruction, these target points are in fact often not reached in the rounding mode.
  • Machine motion programs may generally include conditional program branches.
  • a conditional program branch which may be, for example, an IF statement or a WHILE statement
  • the target point to be approached next depends on the triggering event, so that it is not pre-determined in time before the occurrence of the event which target point of if necessary, to use several alternative possible target points.
  • destinations of move instructions over a program split may not generally be performed. It is known, in such a case, to interrupt the planning of an overhaul, for example in the context of a so-called called Vorlaufstopps to approach the last before the conditional program branch branch target point without smoothing to begin after the conditional program branch a new sequence of rounding.
  • Vorlaufstopps to approach the last before the conditional program branch branch target point without smoothing to begin after the conditional program branch a new sequence of rounding.
  • an interruption of the blending is disadvantageous, since this can lead to time delays, jerking and / or discontinuous trajectories.
  • the triggering event may accordingly be a physical event to which the machine motion program is to respond in a programmed manner by means of the program branching.
  • the triggering event for the machine motion program insofar as any condition to be tested, is diverted at the occurrence or presence in the respective program branch provided.
  • the triggering event does not necessarily have to occur until shortly before the timely arrival of the program branch, but may possibly have occurred earlier and thus occurred well before the program branch was reached.
  • the triggering event or the condition to be tested can then be queried and / or evaluated immediately before the program branching or shortly before the program is deducted, for example as to whether the condition to be checked or the event still exists.
  • condition to be tested or the event can already be present far in advance, but only at the time or shortly before the time of reaching the program branch diversion be queried.
  • the triggering event can be the query or the checking of an already existing condition and / or a physical condition that is already present.
  • the condition and / or the state can be detected, for example, by means of at least one sensor which, in the simplest case, supplies a Boolean state which forms a parameter for a waiting function in the machine motion program, which only delivers a result when the defined time for program branching is reached.
  • a method for automatically generating a movement trajectory of a reference point of a machine to be automatically set up can be provided with which the destination points of movement instructions can also be looped over conditional program branches is.
  • the order can be so far almost arbitrary and possibly also be swapped in the order sequence.
  • a generally possible offline planning of looping movement instructions is usually not possible in the case of conditional program branches, since the conditional Program elimination trigging ie triggering event is not known in advance.
  • conditional program branch may additionally comprise at least one further movement instruction in at least one alternative determined by the initiating event, in addition to a second movement instruction
  • the first movement instruction immediately preceding the conditional program branching and the second movement instruction immediately after the conditional program branching are taken into account or used for the rounding-off mode beyond the conditional program branching, but also at least one further movement instruction. So for example, a third movement instruction and a four te movement instruction, the un indirectly follow the second movement instruction.
  • the number of move instructions to be used may be based on the time remaining available prior to the conditional program branching to allow the two or more possible movement trajectory sections to be timely timed before the conditional program branch is reached.
  • the path planning program can accordingly be set up except for the first interpolation point of the first movement instruction to additionally plan at least one second interpolation point of the second movement instruction and / or every third or further interpolation point following another program instruction in the program sequence.
  • a specific embodiment of the method can be characterized by automatic or manual referencing in the machine movement program of the two or more alternative second movement instructions and / or the further movement instructions following the conditional program subtraction in the machine motion program in the flow direction in one direction of the program branching movement instruction, in particular before the first movement instruction or in the first movement instruction, which the Conditional program branch in the machine motion program in the flow direction immediately precedes.
  • automatic referencing can take place in that the machine movement program has access functions or access methods comprising formal parameters into which the second movement instructions to be referenced and / or further movement instructions are automatically entered as actual parameters Parameter virtual le return values form, the programs by the Maschinenstonspro as virtual call parameters of the second movement instructions and / or other movement instructions before their actual execution automatically made read.
  • Manual referencing may be performed in another version of the method by having machine motion programs that include editable motion instructions that include attributes in which the properties of the second motion statements to be referenced and / or the further motion statements are the actual parameters Movement instructions can be entered manually.
  • the characteristics of the particular motion statement may not only be parameters of the motion statement, such as the destination points or coordinates, the requested speeds and / or accelerations, but may be other speci cations of the motion statement, such as, in particular, the type of motion statement , eg PTP command, LIN command or CIRC command as such.
  • determining the characteristics of the two or more alternative The second movement instructions which are possible in accordance with the conditional program branching, take place in that the two or more alternative second movement instructions and / or further movement instructions referenced in the first movement instruction are read out on the basis of the references in the first movement instruction.
  • the movement instructions lying behind the conditional program reduction in the program sequence can already be read out in time prior to the conditional program branch and thus taken into account in the on-the-fly control.
  • the determination of the time at which an overrun must start at the latest from all start times of the two or more alternative second BeWe movement instructions, to which the respective individual overrun must begin at the latest, take place by a jewei for all individual blending movements lige period of time from the path parameters and the physical properties is automatically determined from all corre sponding durations of the individual blending movements of the two or more alternative secondutzsanwei solutions, the longest period is selected out, and on the basis of the current time and the Marketselektier th longest period of the latest Time at which a sanding must begin, is determined.
  • Knowing the latest time at which a Uber schleifonia must begin and the current time can also be determined whether for all alternative two movement instructions that can still be ensured due to the conditional program branch the execution of a smoothing motion. If this is not the case, that is, it is determined that the latest point in time at which a sanding movement must begin has already been deleted in terms of time, control technology and / or programming technology can be used to terminate, ie abort, or even stop a running sanding mode not begun smoothing mode does not even start.
  • the transmission of the selected, pre-planned movement trajectory section to the motion control for carrying out a movement of the machine in such a way that the reference point of the machine moves correspondingly automatically to the selected, pre-planned movement trajectory section, only immediately bar is executed before the latest time or just before the latest time.
  • querying and / or evaluating the triggering event may be carried out only immediately before the latest time or just shortly before the latest time.
  • the queries can be, for example, a reading in of a sensor signal in the path planning program or the Maschinenbewe supply program.
  • An evaluation can include a process in which a read-in sensor signal is converted, for example, and / or, for example, jointly evaluated and / or combined with other sensor signals.
  • the object of the invention is also achieved by a computer program product comprising a machine-readable carrier, is stored on the program code, which is readable by a machine and which trains and / or set up the machine to perform a method according to the invention be described if the program code of Ma machine is executed.
  • Fig. 1 is a schematic representation of an exemplary
  • Fig. 2 is a schematic representation of an exemplary
  • Fig. 3 is a schematic representation of an exemplary
  • Fig. 4 is a schematic representation of a modified
  • Fig. 5 is a schematic representation of a modified
  • FIG. 1 shows an exemplary control device 1 and drives M1-M6 controlled by it.
  • the drives M1-M6 may in particular comprise electric motors, which are controlled by the control device 1, in particular a drive control of the control device 1, in particular controlled special drivable.
  • the control device 1 comprises in the case of the present ge showed embodiment of FIG. 1, a sequence control AS and a motion controller BS.
  • the sequence control AS summarizes a program control PS.
  • the control components may be combined in a common control unit or formed as separate control components and connected to each other via communication links.
  • On the control device 1, in particular on the program control PS at least one machine movement program MP can be stored and set up for execution.
  • control device 1 may comprise a computer program product, which includes a machine-readable carrier, is stored on the program code, which is readable by the machine, in particular by a robot controller of the robot, so that the machine or the robot is formed and / or set up is to perform a method according to the invention, when the program code of the machine or the robot or its control device 1 is executed.
  • the machine motion program MP which may be a robot program insofar, contains motion instructions e.g. PTP1, PTP2, PTP3, PTP4, according to which a predefined reference point in space is to be moved by the machine or the robot arm.
  • a path planning program BP of the control device 1, in particular special motion controller BS provides algorithms, models and / or calculation rules, the conditions based on thefrosbewegweisun contained in the machine motion MP directly create a movement trajectory T ( Figure 2) for the reference point or indirectly create, that motion profiles, in particular velocity profiles and / or acceleration profiles, are generated in an axis-related or Cartesian manner by the path planning program BP.
  • the corresponding motion profiles, in particular speed Profiles and / or acceleration profiles are then transferred in particular in achs termeer form to a movement design BA, which in turn drive the drives ie the motors of the machine or the robot arm on the drive level by means of drive controller AR or regulate.
  • a coarse interpolation G1 of the points to be controlled can take place, whereas, however, a further fine interpolation FI can already be carried out in the motion execution BA and / or in the drive controllers AR.
  • the movement trajectory BT is a graphic representation of the course of the movement which the reference point passes through in space.
  • the movement trajectory BT is insofar the track on which the reference point moves when the machine or the robot is automatically controlled according to the machine movement program MP.
  • a movement trajectory section BA generally represents a partial path of the entire movement trajectory. More specifically, according to the invention, the respective movement trajectory sections BA1, BA2, BA3 are understood to mean those parts of a plurality of possible movement trajectories T2.1, T2.2, T2.3. which in the machine motion program MP due to the conditional program branch PA (Fig. 3 - Fig. 5) may alternatively occur (ALT1, ALT2), as long as the conditional program branch PA triggering event has not yet took place and therefore it is not yet clear which of two or more possible movement trajectory sections BA1, BA2, BA3 actually come to execution.
  • the Fig. 2 schematically shows the determination of the earliest time point tl at which a rounding movement must start from all startup Z eit Vietnameseen tl, t2, t3, for example, three alternative second movement instructions to which each wells individual rounding motion must begin at the latest.
  • This method is performed by pre-parameterizing a respective period of time for all individual rounding motions, selecting the latest time from all corresponding time periods of the individual rounding movements of the two or more alternative second movement instructions, and based on the current time tO and the selected time period tl, the latest time at which a sanding movement must begin, is determined.
  • Fig. 3 shows schematically the basic method for automatically generating a movement trajectory BT of a reference point of a machine to be automatically controlled, where the machine comprises drives M1-M6, which are designed to move the reference point of the machine in space, controlled by the control device 1, which is Washingtonbil det, the drives M1-M6 of the machine based on the automatically generatedecuringsstrajektorie BT as a guide size to control by means of a flow control AL, wherein the movement trajectory BT based on at least one executed in egg nem smoothing mode first movement instruction PI and at least one of the first movement instruction PI fol lowing second movement instruction P2.1, P2.2 one of the Control device 1 executing machine motion program MP by means of a path planning program BP is automatically generated in the machine motion program MP in spaciousrich device between the first movement instruction PI and a fol lowing second movement instruction P2.1, P2.2 is a program-related program branch PA, which depends on a triggering event a first alternative ALT1 ei ner second movement instruction P2.1 or
  • the method comprises the steps of determining the two or more target points of all alternative second move instructions P2.1, P3.1, P4.1 and P2.2, P3.2, P4.2 that are possible according to the conditional program branch PA,
  • conditional program branch PA can be found in at least one alternative determined by the triggering event, e.g. ALT1 and / or ALT2 addition to a second movement instruction P2.1, P2.2 in addition, for example, a third movement instruction P3.1, P3.2 and ei ne fourth movement instruction P4.1, P4.2 have.
  • Transmitting the base to be looped of the first movement instruction PI and the two or more target points of the two alternative second movement instructions P2.1, P2.2 and the respective further movement instructions P3.1, P3.2 and P4.1, P4.2 takes place to the path planning program BP, the path planning program BP taking into account the to be looped base of the first movement instruction PI the two alternative second BeWe movement instructions P2.1, P2.2 and the other BEWE statement P3.1, P3.2 and P4.1, P4.2 corresponding two pre-planned movement trajectory sections T2.1 and T2.2 created.
  • the path planning program BP can thus be set up except for the first interpolation point of the first movement instruction P1, in addition at least one second interpolation point of the second movement instruction P2.1 P2.2 and / or every third or further interpolation point in the program sequence following Movement instructions P3.1, P3.2 and P4.1, P4.2 must be planned overly.
  • FIGS. 4 and 5 show a variant of the method, characterized by automatic or manual referencing in the machine movement program MP of the two or more alternative second movement instructions P2.1, P2.2 and / or the further movement instructions P3.1, P3 .2 and P4.1, P4.2, which follow the conditional program branch PA in Maschinenbewe supply program MP in the flow direction, in a running direction from before Ab the program branch PA occurring BEWE statement, in particular before the firstzensungsanwei solution PI or in the first movement instruction PI which immediately precedes the conditional program branch PA in the machine motion program MP in the flow direction.
  • 4 shows how the referencing takes place in that the machine movement program MP has an access function or access method Z, which includes formal parameters into which the second movement instructions P2.1, P2.2 to be referenced and / or further movement instructions P3 .1,
  • P3.2 and P4.1, P4.2 are entered as current parameters who the current parameters virtual return values bil, by the machine motion program MP as virtual call parameters of the second movement instructions P2.1, P2.2 and / or other movement instructions P3.1, P3.2 and
  • FIG. 5 shows how the referencing takes place in that the machine movement program MP has editable movement instructions A which include attributes in which the
  • Target points of the second movement instructions P2.1, P2.2 to be referenced and / or the further movement instructions P3.1, P3.2 and P4.1, P4.2 can be entered manually as actual parameters of the movement instruction PI.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé pour la génération automatique d'une trajectoire de déplacement (BT) d'un point de référence d'une machine à commander automatiquement, la machine comprenant des entraînements (M1-M6) qui sont conçus pour déplacer le point de référence dans l'espace et ce sous la commande d'un dispositif de commande (1), qui est conçu pour commander les entraînements (M1-M6) de la machine sur la base de la trajectoire de déplacement (BT) générée automatiquement comme grandeur de référence au moyen d'une commande de déplacement (BS), la trajectoire de déplacement (BT) étant générée automatiquement au moyen d'un programme de planification de trajectoire (BP) sur la base d'au moins une première instructions de déplacement (P1) à exécuter dans un mode de superposition de boucles et au moins une deuxième instruction de déplacement (P2.1, P2.2) suivant la première instruction de déplacement (P1) d'un programme de déplacement de machines (MP) exécuté par le dispositif de commande (1).
PCT/EP2019/053689 2018-03-01 2019-02-14 Procédé pour la génération automatique d'une trajectoire de déplacement et produit de programme informatique associé Ceased WO2019166229A1 (fr)

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DE102018203078.2 2018-03-01
DE102018203078.2A DE102018203078B3 (de) 2018-03-01 2018-03-01 Verfahren zum automatischen Erzeugen einer Bewegungstrajektorie und zugehöriges Computerprogrammprodukt

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US12138799B2 (en) * 2021-02-26 2024-11-12 Kabushiki Kaisha Yaskawa Denki Robot control system, robot controller, and robot control method

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EP4069471A1 (fr) * 2019-12-04 2022-10-12 ABB Schweiz AG Procédé de commande d'actionneur industriel, système de commande et système d'actionneur
DE102021204004B3 (de) 2021-04-21 2022-07-07 Kuka Deutschland Gmbh Erstellen eines Roboterprogramms und Betreiben eines Roboters
DE102021125628B3 (de) 2021-10-04 2022-10-13 Physik Instrumente (PI) GmbH & Co KG Geschwindigkeitsvorgaben zur Trajektorienbestimmung von Kinematiken
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