Method for allowing a manipulator to cover a predetermined trajectory, and control device for carrying out said method

摘要

In a method for allowing an end effector of a robotic manipulator to travel along a predetermined path or trajectory, wherein the manipulator has a null space with respect to the predetermined trajectory with at least two manipulator positions associated with the same end effector position, a placement of the manipulator in null space is detected and, in a processor, a process variable of the end effector is automatically modified according to the detected placement.

主权项

1. A method for controlling travel of an end effector of a robotic manipulator along a predetermined path in which said manipulator has a null space, with at least two manipulator settings being associated with a same end effector attitude, said method comprising the steps of:
in a computerized processor, registering placement of the manipulator in said null space wherein said placement is a direct manipulation of said manipulator within said null space; and in said processor, automatically modifying at least one process variable corresponding to the registered placement, wherein said at least one process variable is modified without varying an attitude of the end effector with respect to said predetermined path.