Method for controlling the movement of a robot
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United States of America Patent
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Sep 14, 2004
Grant Date -
Jan 30, 2003
app pub date -
May 23, 2002
filing date -
May 25, 2001
priority date (Note) -
In Force
status (Latency Note)
Importance
Abstract
Accompanied by the optimization of the possibilities of use of a robot, particularly with regards to low cycle times and high loads, damage to the robot through exceeding the energy absorbable by the structure is still prevented when robot parts strike against the mechanical structure as a result of faults or errors, according to the invention in a method for controlling the movement of a robot, the kinetic energy of moving robot members (G.sub.i g.sub.i+1, . . . , g.sub.n) about an axis (A.sub.i) is limited to the energy absorbable in damage-free manner by a mechanical buffer associated with the corresponding axis (A.sub.i).
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