ATE419096T1 - Antriebssteuerverfahren und antriebssteuerung - Google Patents

Antriebssteuerverfahren und antriebssteuerung

Info

Publication number
ATE419096T1
ATE419096T1 AT03705257T AT03705257T ATE419096T1 AT E419096 T1 ATE419096 T1 AT E419096T1 AT 03705257 T AT03705257 T AT 03705257T AT 03705257 T AT03705257 T AT 03705257T AT E419096 T1 ATE419096 T1 AT E419096T1
Authority
AT
Austria
Prior art keywords
driven element
drive control
estimated
deviation
collision
Prior art date
Application number
AT03705257T
Other languages
German (de)
English (en)
Inventor
Tetsuhiko Nishimura
Masatoshi Sano
Yoshinori Kegasa
Original Assignee
Kawasaki Heavy Ind 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 Kawasaki Heavy Ind Ltd filed Critical Kawasaki Heavy Ind Ltd
Application granted granted Critical
Publication of ATE419096T1 publication Critical patent/ATE419096T1/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—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37624—Detect collision, blocking by measuring change of velocity or torque
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49162—On collision, obstruction reverse drive, accelerate, cancel inertia

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
  • Vehicle Body Suspensions (AREA)
  • Vending Machines For Individual Products (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Character Spaces And Line Spaces In Printers (AREA)
  • Control Of Velocity Or Acceleration (AREA)
AT03705257T 2002-02-18 2003-02-18 Antriebssteuerverfahren und antriebssteuerung ATE419096T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2002039761A JP2003236787A (ja) 2002-02-18 2002-02-18 駆動制御方法および駆動制御装置

Publications (1)

Publication Number Publication Date
ATE419096T1 true ATE419096T1 (de) 2009-01-15

Family

ID=27678269

Family Applications (1)

Application Number Title Priority Date Filing Date
AT03705257T ATE419096T1 (de) 2002-02-18 2003-02-18 Antriebssteuerverfahren und antriebssteuerung

Country Status (7)

Country Link
US (1) US7102311B2 (enExample)
EP (1) EP1477284B1 (enExample)
JP (1) JP2003236787A (enExample)
AT (1) ATE419096T1 (enExample)
AU (1) AU2003211363A1 (enExample)
DE (1) DE60325558D1 (enExample)
WO (1) WO2003068464A1 (enExample)

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JP2005100143A (ja) * 2003-09-25 2005-04-14 Kobe Steel Ltd モータ駆動装置の制御方法及び制御装置
US20050263565A1 (en) * 2003-10-23 2005-12-01 Assembleon N.V. Method and device for moving an element by means of a drive
DE102005015317B4 (de) * 2005-04-01 2007-02-01 Siemens Ag Verfahren und Steuereinrichtung zur gezielten Reaktion bei einem Kontakt zwischen einem Maschinenelement einer Maschine mit einem Gegenstand
US7284453B2 (en) * 2005-07-15 2007-10-23 Beckman Coulter, Inc. Method and apparatus for maximizing liquid aspiration from small vessels
JP4382052B2 (ja) * 2006-03-28 2009-12-09 川崎重工業株式会社 駆動体の制御装置および制御方法
JP4897632B2 (ja) * 2007-09-27 2012-03-14 ファナック株式会社 衝突検出機能を有する工作機械の制御装置
DE102007059481A1 (de) * 2007-12-11 2009-06-18 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Bereichsüberwachung eines Manipulators
DE102008024950A1 (de) * 2008-05-23 2009-11-26 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Steuerung eines Manipulators
JP5375062B2 (ja) * 2008-12-10 2013-12-25 株式会社安川電機 ロボットシステムおよび制御方法
KR20110021191A (ko) * 2009-08-25 2011-03-04 삼성전자주식회사 로봇의 슬립 감지 장치 및 방법
US8483877B2 (en) * 2010-09-03 2013-07-09 GM Global Technology Operations LLC Workspace safe operation of a force- or impedance-controlled robot
DE102010044644B4 (de) * 2010-09-07 2018-12-27 Robert Bosch Gmbh Verfahren zur Kollisionserkennung für eine Antriebseinheit
KR102167359B1 (ko) 2012-06-01 2020-10-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 영공간을 이용한 수술 머니퓰레이터의 명령된 재구성을 위한 시스템 및 방법
JP6262216B2 (ja) 2012-06-01 2018-01-17 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 零空間を使用して操作アーム間の衝突を回避するためのシステム及び方法
EP2854688B1 (en) 2012-06-01 2022-08-17 Intuitive Surgical Operations, Inc. Manipulator arm-to-patient collision avoidance using a null-space
JP6019945B2 (ja) * 2012-08-31 2016-11-02 ブラザー工業株式会社 制御装置及び画像形成システム
DE102013013875A1 (de) * 2013-08-20 2015-02-26 Kuka Laboratories Gmbh Verfahren zum Steuern eines Roboters
DE102013016019B3 (de) * 2013-09-25 2015-03-19 Festo Ag & Co. Kg Verfahren zum Betreiben eines mehrgliedrigen Manipulators
EP2952300A1 (en) * 2014-06-05 2015-12-09 Aldebaran Robotics Collision detection
JP2016014435A (ja) * 2014-07-02 2016-01-28 株式会社デンソー シフトレンジ切換制御装置
DE102014019187A1 (de) * 2014-12-19 2016-06-23 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern einer Antriebsanordnung zum Bewegen eines, insbesondere robotergeführten, Werkzeugs
JP6055014B2 (ja) 2015-03-23 2016-12-27 ファナック株式会社 物または人との接触を検知する機能を有するロボット制御装置
JP6517567B2 (ja) * 2015-03-31 2019-05-22 日本電産サンキョー株式会社 サーボモータ制御装置及び衝突検出方法
WO2017094240A1 (ja) * 2015-12-01 2017-06-08 川崎重工業株式会社 ロボットシステムの監視装置
DE102015224641A1 (de) * 2015-12-08 2017-06-08 Kuka Roboter Gmbh Verfahren zum Erkennen einer Kollision eines Roboterarms mit einem Objekt und Roboter mit einem Roboterarm
CN108724170B (zh) * 2017-08-15 2021-04-16 北京猎户星空科技有限公司 防止机器人倾倒的方法、装置、机器人及存储介质
CN109510551A (zh) * 2018-12-28 2019-03-22 上海辛格林纳新时达电机有限公司 本质安全型伺服系统的实现方法及装置
WO2020194233A1 (en) * 2019-03-28 2020-10-01 Genesis Robotics And Motion Technologies, LP Collision detection
CN111855166B (zh) * 2019-04-26 2024-07-26 博世力士乐（常州）有限公司 线性运动系统及其监控装置
JP7163506B2 (ja) * 2019-09-18 2022-10-31 株式会社Fuji 作業ロボットおよび作業システム
DE102021000741A1 (de) 2020-03-03 2021-09-09 Sew-Eurodrive Gmbh & Co Kg Verfahren zum Betreiben einer Maschine und Anlage zur Durchführung des Verfahrens
KR20220120009A (ko) * 2021-02-22 2022-08-30 현대자동차주식회사 로봇의 충돌 감지 장치 및 그 방법
JP2023124026A (ja) * 2022-02-25 2023-09-06 学校法人立命館 ロボット装置
CN116392259B (zh) * 2023-04-28 2024-06-04 极限人工智能有限公司 同轨道双驱动模块的行程和防撞监测方法、系统和机器人

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JPH01230107A (ja) * 1988-03-10 1989-09-13 Fanuc Ltd サーボモータにより駆動される被駆動体の衝突検出方法
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JPH06245561A (ja) * 1993-02-10 1994-09-02 Fanuc Ltd サーボモータの異常負荷検出制御方法
US5347459A (en) * 1993-03-17 1994-09-13 National Research Council Of Canada Real time collision detection
JP3494685B2 (ja) 1993-11-17 2004-02-09 ファナック株式会社 非常停止方法及び非常停止装置
JPH0866893A (ja) * 1994-08-24 1996-03-12 Fanuc Ltd 衝突検出方法
JPH08229864A (ja) 1995-03-01 1996-09-10 Daikin Ind Ltd 産業用ロボットの衝突検知方法およびその装置
JPH10315173A (ja) * 1997-05-13 1998-12-02 Sankyo Seiki Mfg Co Ltd ロボットの異常検出装置
JPH1170490A (ja) 1997-06-30 1999-03-16 Nachi Fujikoshi Corp 産業用ロボットの衝突検出方法
JP3367641B2 (ja) * 1998-07-31 2003-01-14 株式会社安川電機 ロボットの制御装置
JP3212571B2 (ja) * 1999-03-26 2001-09-25 ファナック株式会社 産業用ロボット
JP3459973B2 (ja) * 1999-10-22 2003-10-27 川崎重工業株式会社 駆動制御方法および駆動制御装置
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Also Published As

Publication number Publication date
AU2003211363A1 (en) 2003-09-04
WO2003068464A1 (en) 2003-08-21
EP1477284B1 (en) 2008-12-31
EP1477284A4 (en) 2008-02-27
EP1477284A1 (en) 2004-11-17
DE60325558D1 (enExample) 2009-02-12
US20050104549A1 (en) 2005-05-19
US7102311B2 (en) 2006-09-05
JP2003236787A (ja) 2003-08-26

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Legal Events

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RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties