Abstract: To increase the safety of an articulated arm robot with robot members connected by means of joints as open kinematics and with functional elements acting on the joints, such as drive motors, gears, brakes and a weight balance system, while reducing the mechanical limitations of the motion space of the robot, the present invention provides that at least some of the said functional elements have a dual design.

Abstract: A transport system for piece goods includes a conveyor for moving the piece goods along a conveying path, an unloading device including a multi-axis manipulator for unloading piece goods from the conveyor, and a clearing tool. The clearing tool is moved relative to the conveyor by the multi-axis manipulator to discharge a piece good from the conveyor, and the movement of the clearing tool includes a directional component transverse to the direction of movement of the conveying path and a directional component in the direction of movement of the conveying path.

Abstract: The invention relates to a workpiece positioning device (1) comprising at least one positioning axis (35, 39) and a modular machine frame (3) on which at least one workpiece receiving element (8, 9) is arranged. At least one frame part (4, 5, 6, 7) comprises at least one frame module (15) provided, in turn, with a long carrier element (16) and at least one connection element (17, 18, 18?).

Abstract: In a method to separate bundle layers by way of a first conveyor track and a second conveyor track whose conveyor speed is greater than the conveyor speed of the first conveyor track, bundles are spaced apart from one another in the transport direction by a speed jump between the first conveyor track and second conveyor track; positions of bundles on the second conveyor track that are spaced apart from one another are detected by a position detection device. The bundles are moved from the second conveyor track with a manipulator, wherein the manipulator is controlled on the basis of the detected bundle positions on the second conveyor track.

Abstract: Disclosed is a robot-controlled optical measurement array (1) comprising an optical sensor (2) that is fastened to a spacer (3). Reference marks (22) are provided on the spacer (3) and/or on a sensor (2) housing (2?). Said optical measurement array (1) is calibrated by means of an auxiliary device (13) that is placed on the optical measurement array (1) and is provided with a sensor target (16) which is disposed on the auxiliary device so as to lie within one measurement space (17) of the optical sensor (2) when the optical measurement array (1) and the auxiliary device (13) are in the assembled state. In order to calibrate the optical measurement array (1), measured values of the sensor target (16) are generated with the aid of the sensors (2), said measured values being used for calculating the three-dimensional position of the sensor coordinate system (10) in relation to the sensor target (16).

Abstract: The invention relates to methods for determining the position of an industrial robot (1, 81) relative to an object (M, 82) as well as correspondingly equipped industrial robots (1, 81). In one of said methods, a 2D camera (17) that is mounted on the industrial robot (1) is moved into at least two different positions, an image (20, 30) of an object (M) that is stationary relative to the surroundings of the industrial robot (1) is generated in each of the positions, the images (20, 30) are displayed, a graphic model (16) of the object (M) is superimposed on the images (20, 30), points (21A, 22A, 31A, 32A) of the graphic model (16) are manually assigned to corresponding points (21A, 21B, 31A, 31B) in the two images (20, 30), and the position of the industrial robot (1) relative to the object (M) is determined on the basis of the points (21A, 22A, 31A, 32A) of the model (16) assigned to the corresponding points (21B, 22B, 31B, 32B).

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 process and a device are provided for determining the pose as the entirety of the position and the orientation of an image reception device. The process is characterized in that the pose of the image reception device is determined with the use of at least one measuring device that is part of a robot. The device is characterized by a robot with an integrated measuring device that is part of the robot for determining the pose of the image reception device.

Abstract: A method for operating cooperating, differing devices, particularly of a plant, with different controls controlling the control sequences and in particular with different control cycles, is characterized in that the clocks (IPOi) of the different controls (3.1, 3.2, 3.3) are interpolated on a common system clock (tTick) and that the control sequences are synchronized. An apparatus suitable for performing the inventive method correspondingly has at least one common interpolating device (5.3) for the controls (3.1, 3.2, 3.3) for interpolating the cycles (IPOi) of the different controls (3.1, 3.2, 3.3) on a common system clock (tTick) and at least one synchronizing device (5) for synchronizing the control sequences.

Abstract: To improve the handling, such as the gripping and displacement, of essentially rod-shaped objects, especially bars of articles that are stacked into one another in such a way that they can be separated, such as plastic cups, the present invention proposes a device with a plurality of first holding rods with essentially hook-like end pieces for extending under the rod-shaped objects. The device according to the present invention is characterized in that the end pieces can be moved under the objects and for releasing same by a motion into a plane extending at right angles to the direction of extension of the first holding rods.

Abstract: A process is provided for controlling a robotal device, such as a multiaxial industrial robot, by a control unit, with a control core for executing control processes for the robotal device. An interface function checks whether models and/or procedures optionally contained in the control core or additional models and/or transformation procedures and/or special algorithms of kinematic structures, which can be preset at the interface are used as model modules for motion-relevant variables of the robotal device. Special and third-party kinematics can thus also be operated with a control device suitable for executing the process without the control itself having to be modified.

Abstract: A system and process is provided for controlling a robot path of a robot including providing a main path for movement of the robot based on path data having points along the main path and providing a safe evacuation path from each point in the main path to get to a safe position. The main path is formed with safety evacuation path considerations in mind such that along any point on ride path the robot can be safely moved to a safety point or to the unload position or safe position.

Abstract: An automatic manipulator, such as a multiaxial industrial robot, with a carrying component structure (support structure) for transmitting forces between individual members of the automatic manipulator. The entire support structure is formed from a material that is resistant with respect to external effects, such as moisture or the like. The material of the support structure may be, in particular, a material that is suitable for use in contact with foods, such as stainless steel, so that the automatic manipulator according to the present invention can be used reliably and without additional costly protective measures in environments in which there is a risk for contamination, such as in the food industry.

Abstract: A method for controlling a plurality of manipulators, such as multiaxial or multiaxle industrial robots. At least one manipulator functions as the reference manipulator and is moved in a plurality of preset poses within its working area at which internal position values are determined as first desired poses. For each desired pose, subsequently a first actual pose of the reference manipulator is determined by an external measuring system. Subsequently at least one further manipulator moves up to specific poses of the reference manipulator as second desired poses and for each of these poses an actual pose of the further manipulator is determined by an external measuring system. On the basis of actual-desired deviations between the thus determined desired and actual poses of the two manipulators, subsequently a parameter model for the further manipulator is established and with it it is possible to compensate simultaneously both its own errors and those of the reference manipulator.

Abstract: A method and a system for controlling a plurality of manipulators with a large number of control units associated with the manipulators in such a way that each control unit controls at least one manipulator, are characterized in that an operating device accesses several control units for controlling the manipulators. Thus, it is possible according to the invention to operate even very closely juxtaposed manipulators without any crossing and interlacing of the connecting channels between the operating devices and control units which would prevent a reliable association in operation. The invention also makes it possible for only one operator to operate cooperating robots.

Abstract: A device (1) is proposed for guiding elongated, flexible elements (2) along parts (6.1, 6.2) of a machine (6) movable relative to one another. The flexible elements (2) can e.g. be power supply cables bunched in a hose for a tool of a multiaxial industrial robot (6), which are guided along the axes of the latter. A device (1) according to the invention is characterized by a sheet blank (1.1) located on the surface of a machine part (6.1) for creating a fixing face (1.1g) for machine attachment (7) spaced from said surface. At least one flexible element (2) is held and guided in a gap 1.1d) between the surface and the fixing face (1.1g). As a result of the thus created, layered or superimposed arrangement of machine attachments (7) and flexible elements (2) guided on the machine space conflict between the same is avoided.

Abstract: The invention relates to a fiber structure component (1, 1?), a robot component, an industrial robot (2), a composite component in general, a composite assembly for land, air and space vehicles, and a manufacturing method for the fiber structure component (1, 1?). The fiber structure component (1, 1?) has at least one stiffening layer (13) to stiffen the fiber structure component (1, 1?) and at least one fiber layer (14) with fiber mats and a matrix, bonded to the stiffening layer (13). The stiffening layer (13) has at least one support element (4, 9), which is surrounded with a fiber material (12). The support element (4, 9) has holes (5) and/or openings (6) for permeation with the fiber material (12) and is provided with a profiling (7, 8). The support element (4, 9) is electrically conductive.

Abstract: A manipulator, such as a multiaxial industrial robot (1), particularly for use in contamination-endangered environments, including a plurality of scavenging areas (1.8a, 1.8b) to which a scavenging medium can be supplied and located in the vicinity of the drive unit of the manipulator. A plurality of groups of drive units has in each case its own scavenging area (1.8a, 1.8b) associated with it. A method is also provided for influencing at least one ambient condition, such as temperature, humidity, pressure, contamination and/or bacterial presence, in the vicinity of the drive units of a manipulator. This reliably ensures a safe operation of the inventive manipulator (1), even in areas with strict hygiene requirements.

Abstract: In order to improve the safety of a machine, particularly a robot, such as a multiaxial or multiaxle industrial robot during the operation thereof, particularly in the presence of human beings, the invention provides a method for operating the machine, which is characterized in that at least one path section is traversed in monitored manner in a reference trip, that movement-characteristic operating values are continuously measured and stored as reference values and that during machine operation said operating values are also determined and compared with the stored reference values. The invention also relates to a device for performing the method.