US 12,240,124 B2
Moving along a predetermined path with a robot
Stefan Burkhart, Dillingen (DE); Andreas Hagenauer, Friedberg (DE); Manfred Huettenhofer, Meitingen (DE); and Robert Schreittmiller, Statzling (DE)
Assigned to KUKA Deutschland GmbH, (DE)
Appl. No. 15/739,548
Filed by KUKA Deutschland GmbH, Augsburg (DE)
PCT Filed Jun. 20, 2016, PCT No. PCT/EP2016/001050
§ 371(c)(1), (2) Date Dec. 22, 2017,
PCT Pub. No. WO2016/206798, PCT Pub. Date Dec. 29, 2016.
Claims priority of application No. 10 2015 008 188.8 (DE), filed on Jun. 25, 2015.
Prior Publication US 2018/0178383 A1, Jun. 28, 2018
Int. Cl. B25J 9/16 (2006.01); G05B 19/042 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1664 (2013.01); B25J 9/1669 (2013.01); G05B 19/042 (2013.01); G05B 2219/36043 (2013.01); G05B 2219/39219 (2013.01); G05B 2219/39433 (2013.01); G05B 2219/40371 (2013.01); G05B 2219/40519 (2013.01); G05B 2219/40521 (2013.01); Y10S 901/02 (2013.01); Y10S 901/49 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for moving along a predetermined path with a robot in an at least a partially automated manner, the method comprising:
determining with a controller a deployment position on a current path section of the predetermined path for which a distance parameter satisfies a predetermined condition, wherein the distance parameter is defined on the basis of the distance of a current position of the robot relative to the current path section;
wherein the current path section is a stored path section of the predetermined path; and
the robot moving into the deployment position.
 
19. A computer program product for moving along a predetermined path with a robot in an at least a partially automated manner, the computer program product having program code stored on a non-transitory computer-readable medium, the program code configured, when run on a robot controller, to cause the robot controller to:
determine a deployment position on a current path section of the predetermined path for which a distance parameter that is defined on the basis of the distance of a current position of the robot relative to the current path section satisfies a predetermined condition;
wherein the current path section is a stored path section of the predetermined path; and
move the robot into the deployment position.