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1. (WO2017157515) CONTROLLING AN AUTOMATION ASSEMBLY

Pub. No.:    WO/2017/157515    International Application No.:    PCT/EP2017/000329
Publication Date: Fri Sep 22 01:59:59 CEST 2017 International Filing Date: Tue Mar 14 00:59:59 CET 2017
IPC: B25J 9/16
G05B 19/42
Applicants: KUKA DEUTSCHLAND GMBH
Inventors: RADRICH, Helmuth
Title: CONTROLLING AN AUTOMATION ASSEMBLY
Abstract:
The invention relates to a method for controlling an automation assembly which has a robot assembly with at least one robot (10) and a detection means assembly with at least one detection means (21-23), said method having the following at least partly automated steps: providing (S10) a first sequence of first ordinate data (q1, q2, dq2/dt, τ1, τ2) assigned to successive first abscissa points (t) on the basis of first training data (q1, q2, τ1, x2); identifying (S20) a first event point (tE) within the first abscissa points of the first sequence; and determining (S30) a first event criterion on the basis of the first sequence and the first event point.