Abstract: The present invention relates to a multi-directionally movable vehicle (10, 20) and to a method for operating the multi-directionally movable vehicle (10, 20). The vehicle (10, 20) has a vehicle body (11, 12), a plurality of multi-directionally movable wheels (13) which are rotatably arranged on the vehicle body (11, 12) and have the purpose of moving the vehicle (10), and a plurality of lighting devices (14, 15) which are each assigned to one of the wheels (13) and which can be activated as a function of the selected or intended direction of travel of the vehicle (10) in order to indicate visually to the outside the direction of travel of the vehicle (10) by means of one or more activated lighting devices (14, 15).

Abstract: The invention relates to a transport system for piece goods (6), having a conveyor system (2) with at least one piece goods carrier (4) moved by the conveyor system (2) and an unloading device (9) for removing the piece goods (6) from the at least one piece goods carrier (4) at an unloading point (7), characterized in that the unloading device (9) is constituted by a freely programmable manipulator (9a) positioned at the unloading point (7). In addition, the invention relates to a method for unloading piece goods (6) from a piece goods carrier (4) of a conveyor system (2) at an unloading point (7), in particular using a transport system according to the invention, and use thereof in luggage conveyor systems.

Abstract: A method according to the invention for controlling a manipulator, in particular a robot, includes the following steps: determining (S10, S20) a target path (q(s)) of the manipulator, and determining (S70) a motion value (v(s)) for this target path, optionally, determining (S50) a path segment ([s_A, s_E]) with a defined profile of a motion value (v(s)=vc), and automatically determining (S60) this motion value on the basis of motion values (v_max_RB, v_max_vg) permissible in this path segment.

Abstract: The invention relates to an industrial robot (1) having a robot arm (2) with a plurality of axes (9, 10) designed for a high payload and having a weight equalization system (12) based on gas for at least one of the axes (9), whose pressurized components (13-15) each have a volume of less than 1 liter and a maximum pressure of less than 1000 bar.

Abstract: The invention relates to an industrial robot (1), having a multiple-axis robot arm (2), with a base (3), a carousel (4) that is rotatably supported relative to the base (3) in reference to an axis (A1) and a mechanical stop device provided to limit a rotary motion of the carousel (4) relative to the base (3). The stop device has a slider (11) situated on the base (3), with stops (17, 18) situated at its ends, a trailing stop (12) situated in the slider (11) and a drive dog (13) situated on the carousel (4). The drive dog (13) and the slider (11) are designed so that the drive dog (13) is introduced into the slider by a corresponding rotary motion of the carousel (4) relative to the axis and pushes the trailing stop (12) against the relative stop (17, 18). The trailing stop (12) includes a plastically deformable damping element (21), which is provided to brake the carousel (4) due to a plastic deformation caused by the trailing stop (12) being pushed against the relevant stop (17, 18) by the drive dog (13).

Abstract: The invention relates to an X-ray apparatus and a medical workstation. The X-ray apparatus has a first robot (R1) and a second robot (R2). The first robot (R1) has a plurality of first axles, a first securing device and a first control device (17) designed to actuate the first axles of the first robot (R1) for a movement of the first securing device. The second robot (R2) has a plurality of second axles, a second securing device and a second control device (37) designed to actuate the second axles of the second robot (R2) for a movement of the second securing device. An X-ray source (RQ) is arranged on one of the two securing devices, and an X-ray receiver (RE) is arranged on the other securing device.

Abstract: A measuring apparatus (1; 1?) for measuring a manipulator (10), with a measuring body (2; 2?) having at least one measurement point (3; 3?) that is fixed in relation to the measuring body for determining a position (TTCP,3; TTCP,3?) relative to a reference point (TCP) that is fixed in relation to the manipulator, and an attaching device connected to the measuring body (5) for fixing on the surroundings, includes at least one calibration point (7; 7?) connected to the measuring apparatus for determining a position (TR, M; TR,M?) relative to the surroundings and/or at least one measurement point (6) positioned on the attaching device.

Abstract: A method according to the invention for stopping a manipulator (1) includes these steps: advance simulation of stopping distances for different states (q, dq/dt, L) and/or braking force profiles (?) of the manipulator (S10), estimating of an upper limit as the stopping distance (smax) on the basis of the stopping distances simulated in advance (S120), monitoring a zone (A0; A1; A2), and decelerating the manipulator (1) when a zone is violated, wherein the monitored zone is defined variably (S130) during operation on the basis of the stopping distance (smax) of the manipulator.

Abstract: A method according to the invention for controlling a manipulator, in particular a robot (1), includes the following steps: controlling of the manipulator by means of an operating device (4) of a first safety level, which is connected to a control device (2) of the manipulator, and monitoring of a permissible state by means of a protective device (3, 3.1, 3.2) of a second, higher safety level, which is connected to the control device of the manipulator, wherein the manipulator executes an action prescribed by the operating device only as long as the protective device is communicating a permissible state to the control device.

Abstract: The invention relates to an X-ray device (2) for a medical workplace (1, 21). The X-ray device (2) comprises a robot (R) with a plurality of axes (9), a control device (10) for controlling the axes (9) for movement of the robot (R), and a fastening device (8), and a support device (11) disposed at the fastening device (8), said support device comprising an X-ray radiation source (12) and an X-ray radiation receiver (14). A 3D model (15, 15a) of the robot (R) and the support device (11) provided is stored in the control device (10), said 3D model modeling the spatial extension of the robot (R) and the support device (11) during movement of the robot (R). The 3D model (15,15a) also models the spatial extension of at least one other device (3, 4, R2) of the medical workplace (1, 21) and/or of a living organism (5) located within the medical workplace (1, 21).

Abstract: In a process for providing run time information for computer programs for controlling industrial robots (robot control programs), a first system time of a computer system executing the program is determined after the calling and before the execution of an individual command or a sequence of individual commands (subroutine). The individual command or the subroutine is subsequently executed, and a second system time of the computer system is determined after the execution. The determination of the system times is carried out on the basis of access times to certain areas of a program memory of the computer system, which areas characterize the individual commands or the subroutine. It is thus possible to carry out run time measurements on robot control programs in a simple and efficient manner, and the results of these run time measurements can be used to optimize such programs.

Abstract: In a method for determining measurement points on a physical object, a number of measurement points are first selected in a graphical computer model of the object, until a sufficient number of measuring points have been selected so as to allow the position and orientation (lay) of the object to be determined relative to a reference system. A further measuring point of the object is then selected in the graphical computer model, and a check is automatically made to determine whether the further measuring point can determine the lay of the object relative to the reference coordinate system more accurately. If so, the further measuring point is used for this determination. Further measuring points are selected and checked in this manner, until the lay of the object can be determined better than with a predefined tolerance.

Abstract: A method according to the invention for operating a manipulator, in particular a robot (1), includes the following steps: determining (S10) parameters (c?, c?) of an exactly positioned manipulator model (M) with various nominal loads (m?, m?); specifying parameters (c) of the manipulator model on the basis of which the manipulator is operated, depending on a payload (m) of the manipulator (S20); and operating the manipulator on the basis of the manipulator model (S30, S40).

Abstract: In order to increase the safety of a robot that may come into contact with other robots, objects or humans, the invention provides that said robot comprises at least two joints and parts that are moveable in relation to each other via at least one joint. At least one sensor (31) is arranged on at least one moveable part (3, 4, 5?, 6, 7), detecting torque. Sensor components (21?, 22.1, 22.2) of the sensor (31) are designed for the redundant detection of a torque, or for the redundant detection of a torque of at least two sensors (31) are provided, and redundant evaluation units are provided for the redundant evaluation. In order to increase safety, the invention further provides a method for monitoring torque on a robot of said kind, wherein at least a torque on at least one movable part (3, 4, 5?, 6, 7) is redundantly detected and redundantly evaluated on at least one moveable part (3, 4, 5?, 6, 7) by means of two sensor components of a sensor (31) or by means of two sensors (31).

Abstract: The invention relates to an industrial robot (1) having a control apparatus (8), and to a method for controlling the movement of the industrial robot (1). For the purposes of the method, an instruction which is intended for controlling the industrial robot (1) is checked, an interpreted instruction is produced by interpretation of the checked instruction by means of an interpreter (13), and the interpreted instruction is stored in a temporary store (10). This process is repeated until a first keyword is detected. A data record (15) is then produced from the interpreted instructions stored in the temporary store (10), wherein the data record (15) has information relating to at least one path element of a path on which the industrial robot (1) is intended to be moved. The data record (15) is loaded into a buffer store (11), is checked by the buffer store (11) and is interpolated by means of an interpolator (14), in order to move the industrial robot (1) on the path element.

Abstract: The invention relates to an industrial robot and a method for programming an industrial robot, for which the industrial robot is guided manually to a virtual surface (25) in the room, at which point the industrial robot is selected such that it cannot be guided any further manually. Next, that force (F) and/or torque acting on the industrial robot when an attempt is made to guide the industrial robot further manually is ascertained and stored, despite reaching the virtual surface (25).

Abstract: According to a method according to the invention for operating an additional tool axis (Z) of a tool (2) guided by a manipulator, in particular a robot (1), a position and/or an orientation of the tool in space are defined by axis positions (q1-q6) of the manipulator axes and a position value (f) of the tool axis, are saved and/or displayed, with an automatic conversion being carried out between the position value (f) and an axis position (e) of the tool axis which brings it about.

Abstract: According to a method according to the invention for controlling a manipulator, in particular a robot (10), a planned path (z1(t)) of the manipulator is specified by a path generating device (1.1, 1.2, 1.3), a control path (z2(t)) is determined automatically on the basis of the planned path by a path conversion device (2), and the control path is traversed with the manipulator by a manipulator controller (3), with the path conversion device (2) determining curvature information (aij; t2(ti)) of the control path on the basis of curvature information (aij; t1(ti)) of the planned path.

Abstract: The invention relates to a sterile barrier (S) for a surgical robot (1) comprising at least one joint (12 . . . 15) with two opposing joint members (40, 42) that rotate relative to one another about a common joint axis (16 . . . 19) and a torque sensor (29) comprising: at least two sterile barrier sections (24 . . . 28) each with an end section (38, 39) for sealed attachment to a respective joint end section (41, 43) of the joint member (40, 42); and a sealing arrangement (30) for producing a sterile and sealed rotating connection of the end sections (38, 39) of the at least two sterile barrier sections (24 . . . 28); and a surgical robot (1).

Abstract: The invention relates to an industrial robot having a robotic arm. The robotic arm has several axes (A1-A6) and at least one electric drive, which comprises an electric motor (7-12) and power electronics (16) actuating the electric motor (7-12) and is equipped to move the relevant axis (A1-A6). The industrial robot (1) is equipped to short-circuit the electric motor (7-12) in the event of emergency braking simultaneously by means of two independent electric current paths.