| 摘要 |
<p>The present invention relates to a method and device (1) for controlling the movement of a movable part such as a robot arm (3) in a milking robot (1). I t comprises control means (7) for controlling the movement of said robot arm ( 3) from an actual position (Pxa, Pya, Pza) to a desired position (Pxd, Pyd, Pzd ). Furthermore, it comprises robot arm position detecting means (45, 47, 49) which detect the actual position of said robot arm (3) and which transmits signals corresponding to said actual position (Pxa, Pya, Pza) to said contro l means (7). Herein, it further comprises predicted position modelling means ( S) for modelling the predicted positions (Pxp, Pyp, Pzp) that said robot arm (3 ) will pass through as it moves from said actual position (Pxa, Pya, Pza) to said desired position (Pxd, Pyd, Pzd). Said control means (7) further comprises means (S) for comparing said actual positions (Pxa, Pya, Pza) of said robot arm (3) against said predicted positions (Pxp, Pyp, Pzp). Additionally, it comprises means for modifying the movement of said robot ar m (3) if the actual position (Pxa, Pya, Pza) of said robot arm (3) at an insta nt of time differs by more than a predetermined amount from the predicted position (Pxp, Pyp, Pzp) at the same instant of time.</p> |
