26-02-2015 дата публикации
Номер: US20150057799A1
Принадлежит:
A method for controlling a robot includes monitoring the robot, and carrying out a fault reaction, selected from a number of specified fault reactions, on the basis of the monitoring of the robot, wherein the fault reaction is selected on the basis of a monitoring of an operational capability and/or an output variable of at least one motor of the robot. 1. A method for controlling a robot , the method comprising:monitoring at least one of an operational capability or an output variable of at least one motor of the robot; andcarrying out a fault reaction, wherein the fault reaction is selected from a plurality of specified fault reactions on the basis of the monitoring of the robot.2. The method of claim 1 , wherein the plurality of specified fault reactions comprises at least one of:at least one motor-active fault reaction; orat least one motor-passive fault reaction.3. The method of claim 2 , wherein:the at least one motor-active fault reaction includes at least one of a motor deceleration with or without a subsequent disconnecting from an energy source, a compliance control, or a retraction motion; andthe least one motor-passive fault reaction includes an immediate disconnection from the energy source without deceleration of the motor.4. The method of claim 1 , further comprising:controlling the motor in a normal operating mode with a first control; andcontrolling the motor during a fault reaction with a second control which is different from the first control.5. The method of claim 1 , wherein monitoring an operational capability comprises a classification of an operational capability claim 1 , the classification having at least two steps.6. The method of claim 5 , wherein the classification has at least three steps.7. The method of claim 1 , wherein monitoring an operational capability comprisesdetermining at least one parameter; andcomparing the at least one parameter with a specified parameter.8. The method of claim 7 , wherein the at least one parameter ...
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