Patent ID: 11904479
Assignee: SEW-EURODRIVE GMBH & CO. KG
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 10:
11. A method for controlling drives of a robot, comprising:
moving an object by the robot along a trajectory with a velocity characteristic;
moving a member by at least a first one of the drives of the robot, the first one of the drives including a controller supplied with an actual torque value and a setpoint torque value calculated as a sum of a torque value as a precontrol value and a control output of a second controller, the second controller being supplied an actual speed value and a setpoint speed value, the member including partial members;
determining the precontrol value from the velocity characteristic in view of mass of the partial members and inertia tensors of the partial members;
to graphically check plausibility of a value of the mass, and to determine and graphically check plausibility of the inertia tensors with the aid of a user interface of a computer connected to a control system for data transmission:
selecting a picture of a partial member from a predefined set of different, graphically portrayed partial members; and
representing the mass of the partial member by a picture being inputted; and

with the aid of the user interface of the computer, graphically representing the value of the mass and of components of the inertia tensor, and transmitting the value of the mass and of the components of the inertial tensor to the control system;
wherein the value of each mass is indicated using a graphic display of a sphere, and a size of the displayed sphere and/or a radius of the sphere corresponds to the value of the mass.