Abstract: A method for controlling a servomotor with a converter includes monitoring a circuit of a direct-voltage DC link that is connected to an input circuit for flow of an electric current; switching off a first switching device to end the supply of the direct-voltage DC link from an electrical grid if a stop signal occurs; braking the servomotor by control of power semiconductor switches of an inverter circuit in a regenerative braking operation, to reduce the rotation speed of the servomotor, if the monitoring detects that an electric current is not flowing after the first switching device has been switched off; and switching off a second switching device to prevent feeding electrical energy from the direct-voltage DC link into the servomotor if the monitoring detects a flow of electric current after the first switching device has been switched off.

Abstract: A method and apparatus for joining using friction and current, wherein the friction/current joining apparatus includes a friction device, a forging device, an electrical current source, and a programmable controller, as well as workpiece holders for the workpieces to be joined. The friction/current joining apparatus is controlled such that, in a contacting phase, the workpieces are initially moved along a process axis, and their mutually facing joining surfaces oriented transverse to a common process axis are brought into contact. In a grinding phase, while subjected to contact pressure by mutual relative movement, the joining surfaces, are ground together and made smooth.

Abstract: A robot arm includes a plurality of links and a plurality of joints connecting the links for adjustment relative to one another. At least a first link has a first bearing pin, a second bearing pin located opposite the first bearing pin, and a second link connected in an articulated manner to the first link by one of the joints has a first bearing flange on which the first bearing pin of the first link is rotatably mounted, and has a second bearing flange on which the second bearing pin of the first is rotatably mounted. The first bearing flange of the second link has a circumferentially closed recess in which the first bearing pin of the first link is received, and the second bearing flange of the second link has a circumferentially open recess in which the second bearing pin of the first link is received.

Abstract: A method for controlling a robot includes detecting current positions of joints of the robot and actuating the joints using drives of the robot based on the detected current joint positions such that at least one drive supports a manual guidance-induced movement of the joint actuated by the drive if a distance between the detected or target joint position and a specified first boundary has a first value. The drive supports the manual guidance-induced movement to a lesser degree if the distance has a second value which is lower than the first value. Additionally, the manual guidance-induced movement is oriented towards the first boundary.

Abstract: A tool and associated method for forming an attachment pad on a sheet material made from high strength steel. The tool includes a housing, an anvil supported on the housing and defining a working axis for forming the pad, and a slide block supported on the housing for movement at least along the working axis of the anvil. A die block is supported on the housing opposite the slide block, and is movable in directions along the working axis. The die block cooperates with anvil to form the pad at a target location defined along the working axis. The tool further includes a heating device supported for movement to and between first and second positions relative to the target location. The first position is adjacent to and aligned with the target location, while the second position is displaced from the first position and away from the target location.

Abstract: A method for collision monitoring of a robot includes ascertaining an actual value of an axis load of at least one axis of the robot and identifying a collision of the robot if a deviation between this actual value and a reference value of the axis load exceeds a threshold value. The threshold value is ascertained as a function of at least one preceding deviation between the actual value and the reference value and/or at least one preceding reference value and/or the reference value, is ascertained as a function of a preceding actual value.

Abstract: The invention relates to a robot arm (2), having a plurality of joints (5) and a plurality of links (4), which each connect two adjacent joints (5) to one another, wherein at least one of said links (4) has a human-machine interface (6), comprising at least one display means (7, 7.2), which is designed to display at least one system state of the robot arm (2) and/or of a control device (3) connected in terms of control technology to the robot arm (2), and comprising at least one input means (8), which is designed to supply at least one manual input via the human-machine interface (6) to the robot arm (2) and/or to a control device (3) connected in terms of control technology to the robot arm (2), wherein the at least one input means (8) comprises a tactile sensor surface (8.1) arranged on an outer casing wall (M) of the link (4) and the at least one display means (7, 7.2) comprises a display surface (7.1) superimposed on the tactile sensor surface (8.1).

Abstract: A method for controlling and/or monitoring a robot application includes determining a time series of first output data values on the basis of a time series of first input data values, a time series of second input data values, a time series of property changes of the first input data values and property changes of the second input data values relative to one another, and a predefined first link of the first and second input data values with the output data values that includes a predefined temporal target sequence of property changes of the first input data values and property changes of the second input data values relative to one another. The method further includes controlling and/or monitoring the robot application on the basis of the determined first output data values.

Abstract: A method for operating, in particular controlling and/or monitoring, a machine, in particular a robot includes: a) determining learning error values on the basis of model values, which are determined by a first model and a second model on the basis of machine state values, and on the basis of reference values of the machine; b) filtering the determined learning error values with a first filter and calibrating the first model on the basis of the filtered learning error values; c) filtering the determined learning error values with a second filter and calibrating the second model on the basis of the learning error values filtered by the second filter; and d) operating, in particular controlling and/or monitoring, the machine on the basis of model values determined by the calibrated first model and the calibrated second model on the basis of machine state values.

Abstract: A method for automatically pulling a shoe upper onto a last using a robot which includes a robot controller, a robot arm controlled automatically by the robot controller, and a gripper which is moved by the robot arm and which is designed to hold a shoe upper.

Abstract: A method for generating a robot program for a robot includes generating a robot program for traversing a robot path, the program having a plurality of movement sets for specifying the path, at least one of which has a specified target pose of a reference of the robot. At least one of the movement sets is a grinding set for which a grinding pose as a virtual starting pose for a successive movement set, an approach to a path section specified by the successive movement set, and an approach from a path section specified by a preceding movement set can be parameterized. A robot path may be traversed by a robot by executing the generated robot program.

Abstract: A method for carrying out a robot application includes controlling the robot to: carry out a transfer movement in a set-up operation, in which the robot speed reaches a set-up transfer movement top speed; carry out a process movement in the set-up operation, in which the robot speed reaches a set-up process movement top speed; carry out the transfer movement in an automatic operation, in which the robot speed reaches an automatic transfer movement top speed; and carry out the process movement in the automatic operation, in which the robot speed reaches an automatic process movement top speed.

Abstract: A method for controlling a telerobotic robot using an input device which has a movable actuator includes repeatedly: —commanding a target pose of a reference of the telerobotic robot, said reference being fixed to the robot, on the basis of a detected position of the actuator; and —commanding a target force of the actuator; wherein a contact operating mode is carried out if a contact is ascertained between the reference fixed to the robot and an obstacle in a contact direction, and a non-contact operating mode is carried out after said contact is no longer ascertained and/or before said contact is ascertained. In the contact operating mode, the target force has a contact force component of a virtual spring, said contact force component simulating a contact between the reference fixed to the robot and an obstacle, and the contact force component is omitted in the non-contact operating mode.

Abstract: A method for transferring an end effector of a robot between an end effector pose and a further end effector pose, for at least one axis of the robot includes specifying the same uniform progression of the position of the axis, particularly in advance, for the transfer between the one end effector pose and the one further end effector pose, and for transfers between the one end effector pose and a group of other further end effector poses, more particularly in dependence on activation of a control operating mode. For at least one further axis of the robot, different progressions of the position of the further axis are commanded, more particularly during the transferring, for the transfer between the one end effector pose and the one further end effector pose and the transfer between the one end effector pose and the at least one of the further end effector poses.

Abstract: A method for positioning a self-piercing-rivet setting tool using a robot includes commanding a robot to position a self-piercing-rivet setting tool in a riveting pose at at least two workpieces joined, and commanding the tool to set a rivet to join the workpieces. During self-piercing riveting, the robot is commanded to change the pose of the tool to at least partially compensate for an elastic deformation induced by the self-piercing rivet. The method may additionally or alternatively include commanding the robot to position the tool in a riveting pose, commanding a self-piercing-rivet movement of the tool with or without setting of a rivet, and manually or sensor-based detecting a change in pose of a die of the tool or of a test element as a result of the self-piercing-rivet movement. The self-piercing-rivet setting tool may be checked and/or a deformation model may be calibrated based on the detected change in pose.

Abstract: A method for controlling a telerobotic robot using an input device which has a movable actuator includes repeatedly: commanding a target pose of the telerobotic robot on the basis of a detected position of the actuator; and commanding a target force of the actuator; wherein at least one virtual border is specified between a permissible and an impermissible region for the telerobotic robot, and the target force includes a restoring force component starting from said border, the restoring force component counteracting an actuation of the actuator for commanding a movement of the telerobotic robot away from the border in the direction of the impermissible region.

Abstract: A robot assembly includes at least four load-bearing structural parts connected by joints between each two adjacent structural parts to form a chain, and a joint motor associated with each joint for the driven movement of the structural parts connected by the joint relative to each other. A control device is provided in one of the structural parts which is connected at both ends to an adjacent structural part via an associated joint. The control device is designed to control at least three of the joint motors, and the electrical connection of the control device to each of the joint motors necessary for the controlling process is provided by a separate control line dedicated to the associated joint motor.

Abstract: A method and a system for automatically securing the operation of a robot system and corresponding components of the system, wherein operation is controlled by a mobile operating device. The robot system receives presence signals transmitted from a mobile operating device via a short-range first signal connection and an operating signal transmitted via a second signal connection designed to be independent of the first signal connection. The operating signal contains a safety-relevant control command for the robot system. The control command is released for execution by the robot system only if a presence check has ascertained that the last received presence signal satisfies a presence criterion specified with respect to the determination of a spatial proximity of the operating device to the robot system. A configuration signal derived from the result of the presence check is transmitted back to the operating device for configuration based on the result.

Abstract: A robotic arm includes a plurality of joints and a plurality of links, each connecting two adjacent joints to one another in a fixed arrangement. At least one of the links includes at least one first casing shell and at least one second casing shell, wherein the first casing shell is connected to the second casing shell in a form-fitting manner in order to form a hollow link, and wherein structure connecting the casing shells includes at least one zip fastener.

Abstract: A method for traveling down a prescribed arrangement of paths which are connected to one another at nodes with a mobile robot. The robot changes from an initial route, which contains all as yet untraveled paths, to a different replacement route including a loop route which retakes at least one path and at least one further path, and a subsequent remaining route which contains all as yet untraveled paths at that time if a value of a quality function for the replacement route is lower than a value of this quality function for the initial route. The quality function is dependent on a first effort, a second effort, and a variable weighting of the first and second values in relation to one another. The variable weighting weights the second effort lower for a first localization uncertainty of the robot.