ATE405387T1 - Verfahren und vorrichtung zum programmieren eines industrieroboters - Google Patents

Verfahren und vorrichtung zum programmieren eines industrieroboters

Info

Publication number
ATE405387T1
ATE405387T1 AT03079134T AT03079134T ATE405387T1 AT E405387 T1 ATE405387 T1 AT E405387T1 AT 03079134 T AT03079134 T AT 03079134T AT 03079134 T AT03079134 T AT 03079134T AT E405387 T1 ATE405387 T1 AT E405387T1
Authority
AT
Austria
Prior art keywords
robot
path
programming
waypoints
industrial robot
Prior art date
Application number
AT03079134T
Other languages
English (en)
Inventor
John Pretlove
Thomas Pettersen
Charlotte Skourup
Original Assignee
Abb Research Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Research Ltd filed Critical Abb Research Ltd
Application granted granted Critical
Publication of ATE405387T1 publication Critical patent/ATE405387T1/de

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the program medium using a drawing, a model
    • G05B19/4207—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the program medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36452—Touch points with handheld probe, camera detects position and orientation probe
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36453—Handheld tool like probe
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36492—Record position and orientation, posture of probe, tool
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36495—Recording position and other parameters, current, tool diameter, voltage
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40515—Integration of simulation and planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45013—Spraying, coating, painting
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45065—Sealing, painting robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
AT03079134T 2002-12-30 2003-12-19 Verfahren und vorrichtung zum programmieren eines industrieroboters ATE405387T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0203909A SE531104C2 (sv) 2002-12-30 2002-12-30 Metod och system för programmering av en industrirobot

Publications (1)

Publication Number Publication Date
ATE405387T1 true ATE405387T1 (de) 2008-09-15

Family

ID=20290054

Family Applications (1)

Application Number Title Priority Date Filing Date
AT03079134T ATE405387T1 (de) 2002-12-30 2003-12-19 Verfahren und vorrichtung zum programmieren eines industrieroboters

Country Status (5)

Country Link
EP (1) EP1435280B1 (de)
JP (1) JP4817603B2 (de)
AT (1) ATE405387T1 (de)
DE (1) DE60323043D1 (de)
SE (1) SE531104C2 (de)

Families Citing this family (44)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10305384A1 (de) * 2003-02-11 2004-08-26 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Visualisierung rechnergestützter Informationen
SE526119C2 (sv) * 2003-11-24 2005-07-05 Abb Research Ltd Metod och system för programmering av en industrirobot
JP2009279699A (ja) * 2008-05-21 2009-12-03 Nagaoka Univ Of Technology 位置・力再現方法および位置・力再現装置
GB0917309D0 (en) * 2009-10-02 2009-11-18 Twi Ltd Method and system of programming a robot
JP2011104759A (ja) * 2009-11-20 2011-06-02 Idec Corp ロボット制御システムの教示用補助具、その教示用補助具を用いた教示方法、およびその教示方法によって教示を行うロボット制御システム
WO2011080882A1 (ja) * 2009-12-28 2011-07-07 パナソニック株式会社 動作空間提示装置、動作空間提示方法およびプログラム
AT509927B1 (de) * 2010-06-08 2015-05-15 Keba Ag Verfahren zum programmieren oder vorgeben von bewegungen oder abläufen eines industrieroboters
JP5573537B2 (ja) * 2010-09-17 2014-08-20 株式会社デンソーウェーブ ロボットのティーチングシステム
WO2014025518A1 (en) * 2012-08-08 2014-02-13 Abb Technology Ag System and method for determining an optimal trajectory for material dispensing robots
JP5549749B1 (ja) 2013-01-16 2014-07-16 株式会社安川電機 ロボット教示システム、ロボット教示プログラムの生成方法および教示ツール
EP2835249B1 (de) * 2013-08-08 2019-03-06 ABB Schweiz AG Drucksystem für dreidimensionale Objekte
EP3055744B1 (de) 2013-10-07 2018-06-13 ABB Schweiz AG Verfahren und vorrichtung zur überprüfung einer oder mehrerer sicherheitsvolumen für eine bewegliche mechanische einheit
DE102014213262A1 (de) * 2014-07-08 2016-01-14 Kuka Roboter Gmbh Maschine und Verfahren zum Betreiben einer Maschine
US9916506B1 (en) 2015-07-25 2018-03-13 X Development Llc Invisible fiducial markers on a robot to visualize the robot in augmented reality
US9919427B1 (en) 2015-07-25 2018-03-20 X Development Llc Visualizing robot trajectory points in augmented reality
KR101876845B1 (ko) * 2015-08-26 2018-07-11 주식회사 뉴로메카 로봇 제어 장치
WO2017085811A1 (ja) * 2015-11-18 2017-05-26 富士機械製造株式会社 ティーチング装置及び制御情報の生成方法
US10296675B2 (en) 2015-12-30 2019-05-21 Abb Schweiz Ag System and method for determining dynamic motion data in robot trajectory
US10031654B2 (en) * 2016-04-12 2018-07-24 Honeywell International Inc. Apparatus and method for generating industrial process graphics
WO2018001472A1 (en) 2016-06-29 2018-01-04 Abb Schweiz Ag An industrial robot system comprising a dual arm robot
JP6883392B2 (ja) * 2016-07-29 2021-06-09 川崎重工業株式会社 ロボットシステム
IL247360B (en) 2016-08-18 2021-09-30 Veeride Ltd A device and method for augmented reality
CN106945036A (zh) * 2017-03-21 2017-07-14 深圳泰坦创新科技有限公司 机器人动作生成方法和装置
WO2019064916A1 (ja) * 2017-09-26 2019-04-04 日本電産株式会社 ロボットシミュレータ
WO2019064917A1 (ja) * 2017-09-26 2019-04-04 日本電産株式会社 ロボットシミュレータ
JP6495989B1 (ja) * 2017-10-02 2019-04-03 株式会社アマダホールディングス プログラム作成装置、溶接システム、及びプログラム作成方法
JP7035555B2 (ja) * 2018-01-23 2022-03-15 セイコーエプソン株式会社 教示装置、及びシステム
DE102018201589A1 (de) * 2018-02-01 2019-08-01 KORIS Vision & Force GmbH Verfahren zur Programmierung der Steuerung eines Industrieroboters, Verfahren zum Betreiben eines Industrieroboters, Programmiervorrichtung sowie Industrierobotersystem mit einer solchen Programmiervorrichtung
EP3537412B1 (de) * 2018-03-07 2025-07-02 Seabery Soluciones S.L. Systeme und verfahren zur simulation robotischer fügevorgänge
JP6787966B2 (ja) 2018-10-02 2020-11-18 ファナック株式会社 拡張現実と複合現実を用いたロボット制御装置及び表示装置
DE102019105820A1 (de) * 2019-03-07 2020-09-10 Matheus Service GmbH Verfahren, System sowie nichtflüchtiges Speichermedium
CN110076752A (zh) * 2019-04-01 2019-08-02 安徽师范大学 仿真六自由度机器人与实体六自由度机器人同步运动装置
JP7409848B2 (ja) * 2019-12-04 2024-01-09 ファナック株式会社 表示装置及び表示プログラム
DE102020103885A1 (de) 2020-02-14 2021-08-19 " SWMS Systemtechnik Ingenieurgesellschaft mbH " Verfahren zur Steuerung mindestens einer Bearbeitungsvorrichtung durch einen Nutzer
EP4169676A4 (de) * 2020-06-23 2024-07-17 Kawasaki Jukogyo Kabushiki Kaisha Roboterlehrverfahren und roboterarbeitsverfahren
JP7637564B2 (ja) * 2021-05-27 2025-02-28 株式会社ジャノメ 経路教示データ作成装置及び経路教示データ作成方法並びにプログラム
WO2023038942A2 (en) * 2021-09-07 2023-03-16 Scalable Robotics Inc. System and method for teaching a robot program
EP4415932A1 (de) * 2021-10-11 2024-08-21 Abb Schweiz Ag Reagierende programmierschnittstelle zum programmieren eines industrieroboters
CN114129263B (zh) * 2021-11-29 2023-07-25 武汉联影智融医疗科技有限公司 手术机器人路径规划方法、系统、设备及存储介质
JP2023157679A (ja) * 2022-04-15 2023-10-26 川崎重工業株式会社 遠隔操作システム及び遠隔操作方法
IT202200012955A1 (it) * 2022-06-20 2023-12-20 Comau Spa "Procedimento per eseguire operazioni di lavorazione industriale all'interno di un ambiente di lavoro, e relativo sistema"
CN115922688A (zh) * 2022-06-21 2023-04-07 北京小米移动软件有限公司 机械手的操作方法、装置及存储介质
WO2024008705A1 (en) * 2022-07-07 2024-01-11 Basf Coatings Gmbh Method and apparatus for generating robot path data to automatically coat at least part of a surface of a spatial substrate with at least one coating material
DE102024119523A1 (de) * 2024-07-10 2026-01-15 Dürr Systems Ag Simulationsverfahren

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS53136263A (en) * 1977-04-30 1978-11-28 Tokico Ltd Industrial robot
JP3448951B2 (ja) 1993-08-25 2003-09-22 マツダ株式会社 塗装における塗装タレの評価方法及び塗装制御装置
DE19626459C2 (de) * 1996-07-02 1999-09-02 Kuka Schweissanlagen Gmbh Verfahren und Vorrichtung zum Teachen eines programmgesteuerten Roboters
US6256597B1 (en) * 1998-07-10 2001-07-03 General Electric Company Three dimensional spray coating method and simulation

Also Published As

Publication number Publication date
SE0203909D0 (sv) 2002-12-30
JP2004209641A (ja) 2004-07-29
SE531104C2 (sv) 2008-12-16
EP1435280A3 (de) 2007-04-18
EP1435280A2 (de) 2004-07-07
JP4817603B2 (ja) 2011-11-16
SE0203909L (sv) 2004-08-28
DE60323043D1 (de) 2008-10-02
EP1435280B1 (de) 2008-08-20

Similar Documents

Publication Publication Date Title
DE60323043D1 (de) Verfahren und Vorrichtung zum Programmieren eines Industrieroboters
JP6449422B2 (ja) 仮想現実オービタルパイプ溶接シミュレータ及びセットアップ
EP3111439B1 (de) Tragbares virtuelles schweisssystem
ES2985043T3 (es) Simulador de soldadura de tuberías de realidad virtual
CN106471557B (zh) 用于虚拟现实焊接仿真器的通用试样
US8911237B2 (en) Virtual reality pipe welding simulator and setup
KR102222983B1 (ko) 가상 현실 환경에서의 향상된 교육 및 훈련을 제공하는 시스템 및 방법
EP2873068B1 (de) Auf virtueller realität basierender rohrverschweissungssimulator und einrichtung
ES2790674T3 (es) Importar y analizar datos externos usando un sistema de soldadura de realidad virtual
DE602006003726D1 (de) Vorrichtung und Verfahren zur Bahnerzeugung für einen Industrieroboter
KR20150139526A (ko) 실시간 시뮬레이팅된 가상 현실 용접 환경에서의 향상된 유저 경험을 제공하는 시스템 및 방법
EP1449489A4 (de) Medizinisches simulationsgerät und verfahren zur kontrolle der 3-dimensionalen bildanzeige im medizinischen simulationsgerät
ES2128062T3 (es) Procedimiento de aprendizaje de una trayectoria por el hombre.
EP4283596A3 (de) Lernverwaltungssystem für eine schweisstrainingsumgebung mit simulierter virtueller realität in echtzeit
DE59006353D1 (de) Einrichtung zur Simulation auf der Erde von Operationen eines im Weltraum einsetzbaren Manipulators an einem Modell eines Raumfahrzeuges.
ATE267441T1 (de) Verfahren und vorrichtung zur anzeige von musikdateien im dreidimensionalen raum
DE3888188D1 (de) Verfahren zur Simulation der Bearbeitung eines Werkstückes und Darstellung desselben, sowie Vorrichtung zur Durchführung des Verfahrens.
SE0401542D0 (sv) A method and a device for providing feedback on weaving parameters
Bianco BASIC ROBOTICS IN THE CLASSROOM.
ATE395576T1 (de) Verfahren und vorrichtung zur visuellen darstellung eines standortes und eines zustandes eines tragbaren elektronischen gerätes
Bryan et al. Wave modelling: a lesson illustrating the integration of mathematics, science and technology through multiple representations
Erickson Applied Virtual Reality Training for Scalable Skill Acquisition in Hand Tool Focused Trades
Hodaie et al. System for Manual-Procedural Activities
Wichienwidhtaya Utilizing VR for Manufacturing Learning and Training
杜瑞澤 An Analysis of Perceived Literacies and Attitudes Concerning Microcomputer Usage by Technical-Education Instructors at Two-Year Colleges and Technical Institutes

Legal Events

Date Code Title Description
RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties