Abstract: The invention relates to a method for testing the plausibility of output signals (u1, u2) of a resolver (21), by means of which an angular position of two elements (3-7) of a machine (R) can be determined in relation to each other.

Abstract: The invention relates to a method for operating an autonomous industrial truck (1), having the following method steps: determining, by means of a measuring apparatus (6) of the autonomous industrial truck (1), whether the industrial truck potentially hits at least one obstacle (7) on the basis of the present movement of said industrial truck (1), determining that point (14) of the industrial truck (1), and determining a maximum velocity for the present movement of the industrial truck (1) on the basis of the determined distance (d), with the result that the industrial truck reliably comes to a standstill in front of the obstacle (7) on the basis of possible braking of the industrial truck (1).

Abstract: The invention relates to a method for determining possible positions of a robot arm of a robot. The robot arm comprises a frame, numerous links, disposed successively, which can move in relation to one another, with respect to axes. First, a target position and target orientation in space for a robot arm or a tool center point assigned to an end effector attached to the robot arm, are defined, to which a reference coordinate system having polar coordinates is assigned. Subsequently, potential possible positions of the frame of the robot arm in space and in the polar coordinates of the reference coordinate system are determined on the basis of the geometry of the robot arm, such that the tool center point can assume the defined target position and target orientation.

Abstract: The invention is concerning a robotic arm that features several consecutive mobile links and motors associated with axes relative to one another for the moving of the links. At least one of the links is selectively mountable in at least two configurations relative to its adjacent links.

Abstract: The invention relates to a welding robot for resistance welding, which exhibits a welding tongs (21), a welding current generator (1) connected to the welding electrodes (24, 25) of the welding tongs (21), for supplying the welding electrodes (24, 25) with electric energy during the resistance welding, and an industrial robot. The industrial robot comprises a robot arm (2) and a robot control device (9) for moving the robot arm (2). The welding tongs (21) is connected to the robot arm (2) and the robot control device (9) is connected to the welding current generator (1) and a tongs drive (26, 27) of the welding tongs (21).

Abstract: An invention-based control system for at least one robot comprises a, especially symmetric, multi-core architecture with a first virtual machine (V1) with at least one computing engine (C3), which has been provided for controlling at least one process application (P) of this robot.

Abstract: The invention relates to a medical work station which has a medical technology apparatus and a patient support device. The medical technology apparatus includes a medical technology device and at least one first robot, which has a first robot arm, having a plurality of members and a first control device that controls a motion of the first robot arm. The medical technology device is attached to a first attaching device of the first robot arm. The patient support device includes a patient table and a second robot, which has a second robot arm having a plurality of members, and a second control device that controls a motion of the second robot arm. The patient table is attached to a second attaching device of the second robot arm.

Abstract: A process module library according to the invention for programming a manipulator process, in particular an assembly process, comprises a plurality of parametrisable process modules (“search( )”, “peg_in_hole( )”, “gear( )”, “screw( )”) for carrying out a sub-process which in particular is common to different manipulator processes. Each of the process modules comprises a plurality of basic commands of a common set of basic commands for carrying out a basic operation, in particular an atomic or molecular operation, and a process module can be linked, in particular mathematically, to a further process module and/or a basic command. During programming, a manipulator can be controlled by means of a functional module of a graphic programming environment (100).

Abstract: A method for executing a manipulator process with at least two manipulator poses with a manipulator, in particular a robot, wherein the manipulator comprises at least one drive means having a motor and a brake, comprising the steps of: (S10) Assuming a manipulator pose; (S20) Stopping at least one drive means; (S30) Closing at least one brake of this drive means; (S40) Reduction of the energy supply to the drive means; (S50) Increasing the energy supply to the drive means; (S60) Opening the closed brake; (S70) Assuming another manipulator pose.

Abstract: An industrial robot has a robot arm with a linkage and an arm extension that is pivotable at the linkage. The arm extension has an arm enclosure that is pivotable at the linkage. The arm extension has a primary hand enclosure that can rotate, means of a first actuator that has a first drive shaft, at the arm enclosure around an arm axle extending in the longitudinal dimension of the arm extension. The arm extension has a first hand element that is adjustable around a first hand axle relative to the primary hand enclosure by means of a second actuator that has a second drive shaft, and a second hand element that is adjustable around a second hand axle relative to the first-hand element by means of a third actuator that has a third drive shaft. The first, second and third actuators are arranged in the primary hand enclosure with their respective drive shafts extending essentially parallel to and at a distance from the arm axle.

Abstract: In a method and device to control a multiple-machine arrangement with at least one first controller and one second controller, specific data packages for the controllers are generated, these specific data packages are transferred to the controllers, the transferred data packages are selectively activated, and downloading of the data packages is implemented in the controllers as a result of an activation, in particular installation of at least one program and/or one configuration file.

Abstract: The invention relates to a charging system for a motor vehicle, in particular a passenger car (2), provided with a robot (1) having a control means (1.1), a force detecting means (5), and a plug (4.1) fastened to the robot, configured to establish a detachable plug connection with the mating plug (4.2) on the vehicle side for charging an electric energy store of the motor vehicle, wherein the control means is configured to communicate with the force detecting means, and to connect the robot-guided plug to the mating plug based on a force detected by the force detecting means.

Abstract: Control programs for robotic systems are synchronized through the use of synchronization objects which control access to shared resources and allow for sequencing of events in separate program threads. Where necessary, partner objects generate between control programs and synchronization objects to assure uniform interaction between control program threads and synchronization objects. As all synchronization objects contain searchable partner lists, actual simulated and runtime deadlocks including any type of synchronization object can be detected, and the full system can be analyzed to identify potential deadlocks.

Abstract: An invention-based method for controlling a robot arrangement having at least one robot (R) and comprising the following steps: Establishing at least one general fault model (1) for a group of different treatment processes with predetermined processing errors (S1); Configuring the fault model for at least one specific processing error of a process of the group (S2); and Transmitting the configured fault model (1?) to a control system of the robot arrangement.

Abstract: A method for overlaying AR objects on an environmental image representing the environment includes recording a depth image of the environment from a point of vision; modifying the representation of an AR object to be placed in the environmental image in terms of how it appears from the point of vision at a pre-defined spot in the environmental image; determining how the parts of the AR object facing the point of vision are arranged in relation to an associated image point of the depth image, from the point of vision; modifying at least the representation of parts of the AR object in a pre-determined manner in relation to the apparent depth in the image; and overlaying the processed AR object on the environmental image. A device for overlaying AR objects on an environmental image displaying the environment operates according to the method steps.

Abstract: A device according to the invention (1) for monitoring the safety of at least one robot (2), having a non-contact detection apparatus (3A, 3B) for monitoring a working space (A) of at least one robot (2) in a monitoring mode (FIG. 1), is characterized by a switching means (1) for switching the detection apparatus into a measuring mode (FIG. 2) to measure at least one robot (2).

Abstract: The invention relates to a method for creating a robot model (17) of an industrial robot (1) which has a robotic arm (2) having a plurality of successive limbs (3-8) which are adjustable by means of drives (11-16) via transmissions (5) in relation to axes (A1-A2), controlled by a control device (10) of the industrial robot (1). According to the invention, the robotic arm (2) is moved in a plurality of poses. At least one of the limbs (4) is moved in the same first movement direction (18) by means of the drive (11) thereof at least upon approaching the individual poses. In order to obtain the robot model (17), the robotic arm (2) is measured at each of the poses thereof.

Abstract: The invention relates to a robot arm of an industrial robot. The robot arm includes a flange provided to secure an end effector and several sequentially-positioned members connected by means of links, of which one of the members is mounted immediately before the flange, and the flange is mounted to rotate with respect to an axis relative to this member. To adjust the flange with respect to the member mounted immediately before the flange, the robot arm comprises an adjustment device that includes a base carrier is detachably attachable to the flange particularly by means of screws, with an adjustment means disposed on the base carrier that interacts with a counter-adjustment means disposed on the member mounted immediately before the flange.

Abstract: A method for referencing a drive position of an electric drive of a gripper half of a production gripper in a closed position of two gripper halves includes closing the open gripper halves, determining multiple actual positions of an electric drive and tracking error values of the electric drive in a time interval during the closing of the gripper halves until beyond a point in time in which the closed position is reached, determining a straight line based on the ascertained tracking error values depending on a related time-tracking-error function, determining the instant of the zero crossing of the straight line of the time-tracking-error function, and determining the actual position of the electric drive that corresponds to the instant of the zero crossing of the straight line of the time-tracking-error-function. A production gripper and a respective control device for operating the production gripper are set up to carry out such a method.

Abstract: In a method and device for depalletizing stack containers, the stacked containers are supported by at least one support base, and the stacked containers on the support base are frictionally engaged and lifted on two opposite sides thereof.