Manipulator, particularly industrial robot, having a redundant sensor arrangement, and method for the control thereof
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United States of America Patent
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Nov 26, 2013
Grant Date -
Sep 16, 2010
app pub date -
Oct 17, 2008
filing date -
Oct 20, 2007
priority date (Note) -
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status (Latency Note)
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Abstract
A manipulator for an industrial robot includes a plurality of actuators associated with a plurality of motion axes. An axis sensor is associated with each of the plurality of motion axes. Each axis sensor is configured to determine a single axis value for the corresponding axis of the plurality of motion axes. A redundant sensor arrangement is configured to ascertain an overall manipulator value. A control is configured to balance the overall manipulator value and the single axis values acquired by the axis sensors. A method of controlling the manipulator is also provided. Axis values are acquired by the axis sensors associated with each of the plurality of motion axes. A redundant manipulator value is acquired by the redundant sensor arrangement. The redundant manipulator value and the axis values acquired by the axis sensors are balanced, and a signal corresponding to the result of the balancing is output.
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