发明名称 |
METHOD FOR CONTROLLING AN AUTOMATED WORK CELL |
摘要 |
<p>The invention relates to a control method applied to an automated work cell which includes at least one robot arm (4) having at least three degrees of freedom controlled according to a plurality of control axes (A1-A6; X, Y, Z, Rx, Ry, Rz); a control centre (8); a device (6) for controlling the robot arm (4), which includes a plurality of motor controllers (61-66) each controlling the operation of one motor (M1-M6), suitable for operating at least one portion of the robot arm (4); and a communication bus (14) between the control centre (8) and the device (6) for controlling the robot arm (4). Said method includes steps that consist of: a) sending instructions (Cri) emitted by the control centre (8) to control the control axes to a single arithmetic unit (10) belonging to the device (6) for controlling the robot (4); b) determining, within the arithmetic unit (10) and according to instructions received from the control centre (8), orders (0^) for each one of the motors controlled by a motor controller; c) sending each motor controller an order, determined in step b), for the motor controlled by said motor controller.</p> |
申请公布号 |
WO2011141684(A1) |
申请公布日期 |
2011.11.17 |
申请号 |
WO2011FR51078 |
申请日期 |
2011.05.13 |
申请人 |
STAUBLI FAVERGES;PERTIN, FRANCOIS;BONNET DES TUVES, JEAN MICHEL;JOLY, LUC;VOGT, GERALD |
发明人 |
PERTIN, FRANCOIS;BONNET DES TUVES, JEAN MICHEL;JOLY, LUC;VOGT, GERALD |
分类号 |
B25J9/16;G05B19/408 |
主分类号 |
B25J9/16 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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