Flexible Cycle Time-Optimized Sharing of a Working Space for Robots

摘要

The invention relates to a method and a system for controlling a robot, which non-simultaneously shares a working space with another robot. On the basis of a determined residual period, in which the working space remains occupied, the path planning of a robot is adjusted in a cycle time-optimized manner, in order to avoid a deceleration at the working space limit and a wait for the working space to be vacated.

主权项

1. A method for controlling a first manipulator, in particular a first robot, which non-simultaneously shares a working space with at least a second manipulator, in particular a second robot, wherein the two manipulators each have prespecified movement profiles, which method includes the following steps:
a) supplying real-time information about the actual status of the movement profile of the second manipulator, while it is in the working space; b) determining, based on the supplied real-time information and the prespecified movement profile of the second manipulator, of the residual period which the second manipulator requires in order to move out of the working space; c) adapting the movement profile of the first manipulator as a response to the residual period determined in step b), so that the first manipulator adjusts its movement to the limit of the working space in such a way that halting of the first manipulator in front of the working space is avoided.