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

Claim 0:
1. 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 torque controller, the member including partial members;
supplying to the torque controller a sum of a torque value as a precontrol value and a control output of a second controller as a setpoint torque value, the second controller arranged as a speed controller;
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
inputting the mass of the partial member represented by the picture; and

graphically representing, with the aid of the user interface of the computer, 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.