US 11,839,985 B2
Control of a robot assembly
Felix Allmendinger, Augsburg (DE); Jan Bandouch, Munich (DE); and Günter Schreiber, Friedberg (DE)
Assigned to KUKA Deutschland GmbH, Augsburg (DE)
Appl. No. 16/617,790
Filed by KUKA Deutschland GmbH, Augsburg (DE)
PCT Filed May 17, 2018, PCT No. PCT/EP2018/062937
§ 371(c)(1), (2) Date Nov. 27, 2019,
PCT Pub. No. WO2018/219673, PCT Pub. Date Dec. 6, 2018.
Claims priority of application No. 10 2017 005 194.1 (DE), filed on May 31, 2017.
Prior Publication US 2020/0114518 A1, Apr. 16, 2020
Int. Cl. B25J 9/16 (2006.01); G05B 19/4103 (2006.01)
CPC B25J 9/1697 (2013.01) [B25J 9/1664 (2013.01); G05B 19/4103 (2013.01); G05B 2219/37017 (2013.01); G05B 2219/39391 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method for the control of a robot assembly having at least one robot to perform an operation on at least one object, the method comprising:
detecting with a first sensor, first pose data of the at least one object, the first pose data comprising a first time interval;
determining first modified pose data of the at least one object on the basis of the first detected pose data, the first modified pose data comprising a second time interval that is less than or greater than the first time interval, or equal to the first time interval;
controlling the robot assembly on the basis of the first modified pose data;
detecting second pose data of the at least one object, the second pose data comprising a third time interval that is chronologically parallel to the detection of the first pose data;
determining second modified pose data of the at least one object on the basis of the second detected pose data, the second modified pose data comprising a fourth time interval that is less than or greater than the third time interval, or equal to the third time interval; and
controlling the robot assembly on the basis of the second modified pose data;
wherein at least one of the detected or modified first pose data and/or at least one of the detected or modified second pose data depend on an orientation of the at least one object; and
wherein determining at least one of the first modified pose data or the second modified pose data comprises determining the at least one of the first or second modified pose data in such a manner that a rotation of the at least one object in a space between the first modified pose data or the second modified pose data is minimal.