B - Operations – Transporting – 25 – J
Patent
B - Operations, Transporting
25
J
B25J 9/02 (2006.01) A01J 5/017 (2006.01) G05B 19/31 (2006.01)
Patent
CA 2341453
The present invention relates to a method and device (1) for controlling the movement of a movable part such as a robot arm (3) in a milking robot (1). It comprises control means (7) for controlling the movement of said robot arm (3) from an actual position (Pxa, Pya, Pza) to a desired position (Pxd, Pyd, Pzd). Furthermore, it comprises robot arm position detecting means (45, 47, 49) which detect the actual position of said robot arm (3) and which transmits signals corresponding to said actual position (Pxa, Pya, Pza) to said control means (7). Herein, it further comprises predicted position modelling means (S) for modelling the predicted positions (Pxp, Pyp, Pzp) that said robot arm (3) will pass through as it moves from said actual position (Pxa, Pya, Pza) to said desired position (Pxd, Pyd, Pzd). Said control means (7) further comprises means (S) for comparing said actual positions (Pxa, Pya, Pza) of said robot arm (3) against said predicted positions (Pxp, Pyp, Pzp). Additionally, it comprises means for modifying the movement of said robot arm (3) if the actual position (Pxa, Pya, Pza) of said robot arm (3) at an instant of time differs by more than a predetermined amount from the predicted position (Pxp, Pyp, Pzp) at the same instant of time.
L'invention concerne un procédé et un dispositif (1) de commande du mouvement d'une pièce mobile telle que le bras (3) manipulateur d'un robot de traite (1). Ce dispositif comporte un mécanisme (7) de commande pour déplacer le bras (3) manipulateur de sa position effective (Pxa, Pya, Pza) vers une position désirée (pxd, Pyd, Pzd). Le dispositif comporte également un mécanisme (45, 47, 49) pour détecter la position du bras (3) manipulateur et transmettre les signaux correspondant à la position effective (Pxa, Pya, Pza) du bras (3) au mécanisme (7) de commande. Selon l'invention, le dispositif comporte en outre un mécanisme (S) pour modéliser les positions prévues (Pxp, Pyp, Pzp) du passage du bras (3) lorsqu'il se déplace de la position effective (Pxa, Pya, Pza) à la position désirée (Pxd, Pyd, Pzd). Le mécanisme de commande (7) comporte également un mécanisme (S) qui permet de comparer les positions effectives (Pxa, Pya, Pza) du bras (3) à ses positions prévues (Pxp, Pyp, Pzp). Le dispositif comporte en outre un mécanisme pour modifier le mouvement du bras (3) manipulateur si, à un moment donné, la position effective (Pxa, Pya, Pza) du bras (3) en question diffère, au même moment donné, de plus d'une valeur prédéterminée de la position prévue (Pxp, Pyp, Pzp).
Liao Bohao
Nilsson Mats
Delaval Holding Ab
Marks & Clerk
LandOfFree
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