BR112014002744A8 - robô com articulações de rigidez variável e método de cálculo de referida otimizada - Google Patents
robô com articulações de rigidez variável e método de cálculo de referida otimizadaInfo
- Publication number
- BR112014002744A8 BR112014002744A8 BR112014002744A BR112014002744A BR112014002744A8 BR 112014002744 A8 BR112014002744 A8 BR 112014002744A8 BR 112014002744 A BR112014002744 A BR 112014002744A BR 112014002744 A BR112014002744 A BR 112014002744A BR 112014002744 A8 BR112014002744 A8 BR 112014002744A8
- Authority
- BR
- Brazil
- Prior art keywords
- referral
- robot
- optimized
- calculation method
- variable stiffness
- Prior art date
Links
Classifications
-
- 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
-
- 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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- 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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/041—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a variable is automatically adjusted to optimise the performance
-
- 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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
-
- 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
- G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39261—Calculate driving torque from dynamic model, computed torque method variant
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR1157171A FR2978844B1 (fr) | 2011-08-04 | 2011-08-04 | Robot a articulations de rigidite variable et methode de calcul de ladite rigidite optimisee |
| PCT/EP2012/065210 WO2013017676A1 (fr) | 2011-08-04 | 2012-08-03 | Robot a articulations de rigidite variable et methode de calcul de ladite rigidite optimisee |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| BR112014002744A2 BR112014002744A2 (pt) | 2017-06-13 |
| BR112014002744A8 true BR112014002744A8 (pt) | 2017-06-20 |
Family
ID=46601836
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| BR112014002744A BR112014002744A8 (pt) | 2011-08-04 | 2012-08-03 | robô com articulações de rigidez variável e método de cálculo de referida otimizada |
Country Status (11)
| Country | Link |
|---|---|
| US (1) | US9555543B2 (pt) |
| EP (1) | EP2740012B1 (pt) |
| JP (1) | JP6343559B2 (pt) |
| KR (1) | KR101958043B1 (pt) |
| CN (1) | CN104011613B (pt) |
| BR (1) | BR112014002744A8 (pt) |
| DK (1) | DK2740012T3 (pt) |
| ES (1) | ES2659053T3 (pt) |
| FR (1) | FR2978844B1 (pt) |
| NO (1) | NO2740012T3 (pt) |
| WO (1) | WO2013017676A1 (pt) |
Families Citing this family (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9259838B1 (en) | 2014-07-24 | 2016-02-16 | Google Inc. | Systems and methods for ground plane estimation |
| US9499219B1 (en) * | 2014-08-25 | 2016-11-22 | Google Inc. | Touch-down sensing for robotic devices |
| JP6333688B2 (ja) * | 2014-09-24 | 2018-05-30 | 本田技研工業株式会社 | 移動ロボットの制御装置 |
| CN104597836A (zh) * | 2015-01-23 | 2015-05-06 | 哈尔滨理工大学 | 外覆盖件模具四轴加工系统综合刚度性能进行切削的方法 |
| CN104793563B (zh) * | 2015-02-13 | 2017-09-22 | 哈尔滨理工大学 | 基于四轴加工系统综合刚度场的外覆盖件模具的加工方法 |
| JP6332197B2 (ja) * | 2015-08-11 | 2018-05-30 | トヨタ自動車株式会社 | モータの制御装置 |
| CN105353670A (zh) * | 2015-09-22 | 2016-02-24 | 长春工业大学 | 基于嵌入式的仿人机器人运动控制器 |
| JP6956081B2 (ja) * | 2015-11-11 | 2021-10-27 | マコ サージカル コーポレーション | ロボットシステム及びロボットシステムをバックドライブする方法 |
| CN106041926B (zh) * | 2016-06-12 | 2018-10-19 | 哈尔滨工程大学 | 一种基于卡尔曼滤波器的工业机械臂力/位置混合控制方法 |
| WO2018094272A1 (en) * | 2016-11-18 | 2018-05-24 | Robert Bosch Start-Up Platform North America, LLC, Series 1 | Robotic creature and method of operation |
| CN110340880A (zh) * | 2018-04-02 | 2019-10-18 | 新世代机器人暨人工智慧股份有限公司 | 可变姿态机器人及其姿态调整方法 |
| CN109086544B (zh) * | 2018-08-16 | 2019-12-24 | 居鹤华 | 基于轴不变量的闭链机器人动力学建模与解算方法 |
| CN109117451B (zh) * | 2018-08-16 | 2020-03-13 | 居鹤华 | 基于轴不变量的树链机器人动力学建模与解算方法 |
| CN110442947B (zh) * | 2019-07-30 | 2021-07-02 | 华中科技大学 | 融合平衡策略的下肢机器人动力学仿真平台及仿真方法 |
| DE102019128082B4 (de) * | 2019-10-17 | 2022-03-10 | Franka Emika Gmbh | Drehmomentbegrenztes Bremsen eines Robotermanipulators |
| CN111409073A (zh) * | 2020-04-02 | 2020-07-14 | 深圳国信泰富科技有限公司 | 一种高智能机器人的摔倒自恢复方法及系统 |
| CN112179551B (zh) * | 2020-08-20 | 2021-06-22 | 清华大学 | 机器人的关节电机转矩系数与摩擦力同步测试方法和装置 |
| CN112068443B (zh) * | 2020-09-21 | 2022-05-31 | 珠海格力智能装备有限公司 | 机器人关节组件优化方法、装置、机器人和存储介质 |
| US20220193893A1 (en) * | 2020-12-18 | 2022-06-23 | Boston Dynamics, Inc. | Limiting Arm Forces and Torques |
| US11931898B2 (en) | 2020-12-22 | 2024-03-19 | Boston Dynamics, Inc. | Arm and body coordination |
| CN113172614B (zh) * | 2021-04-28 | 2022-09-06 | 清华大学 | 一种连续体机器人的执行臂 |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0866893A (ja) * | 1994-08-24 | 1996-03-12 | Fanuc Ltd | 衝突検出方法 |
| US7774177B2 (en) * | 2001-06-29 | 2010-08-10 | Honda Motor Co., Ltd. | Exoskeleton controller for a human-exoskeleton system |
| CN1649698A (zh) * | 2002-03-18 | 2005-08-03 | 索尼株式会社 | 机器人设备、腿式移动机器人的运动控制设备和方法、腿式移动机器人的传感器系统和移动单元 |
| US7236852B2 (en) * | 2002-10-11 | 2007-06-26 | Sony Corporation | Motion controlling apparatus and method and remote controlling apparatus and method for legged mobile robot |
| JP4682791B2 (ja) * | 2005-10-12 | 2011-05-11 | ソニー株式会社 | 操作空間物理量算出装置及び操作空間物理量算出方法、並びにコンピュータ・プログラム |
| JPWO2007139135A1 (ja) * | 2006-05-30 | 2009-10-08 | 独立行政法人科学技術振興機構 | ロボット及び制御装置 |
| US7986118B2 (en) * | 2007-04-23 | 2011-07-26 | Honda Motor Co., Ltd. | Open-loop torque control on joint position-controlled robots |
| FR2930108B1 (fr) | 2008-04-09 | 2010-07-30 | Aldebaran Robotics | Systeme et procede de communication distribue comprenant au moins un serveur, au moins un terminal distant, et au moins un terminal mobile capable de communiquer avec le terminal distant relie en reseau audit serveur |
| KR20110082394A (ko) * | 2010-01-11 | 2011-07-19 | 삼성전자주식회사 | 보행 로봇 및 그 제어 방법 |
| KR101633362B1 (ko) * | 2010-01-18 | 2016-06-28 | 삼성전자 주식회사 | 인간형 로봇 및 그 보행 제어방법 |
| KR101985790B1 (ko) * | 2012-02-21 | 2019-06-04 | 삼성전자주식회사 | 보행 로봇 및 그 제어 방법 |
-
2011
- 2011-08-04 FR FR1157171A patent/FR2978844B1/fr not_active Expired - Fee Related
-
2012
- 2012-08-03 KR KR1020147005717A patent/KR101958043B1/ko active IP Right Grant
- 2012-08-03 US US14/236,802 patent/US9555543B2/en active Active
- 2012-08-03 BR BR112014002744A patent/BR112014002744A8/pt active Search and Examination
- 2012-08-03 JP JP2014523337A patent/JP6343559B2/ja active Active
- 2012-08-03 EP EP12741354.0A patent/EP2740012B1/fr active Active
- 2012-08-03 WO PCT/EP2012/065210 patent/WO2013017676A1/fr active Application Filing
- 2012-08-03 ES ES12741354.0T patent/ES2659053T3/es active Active
- 2012-08-03 CN CN201280048897.4A patent/CN104011613B/zh active Active
- 2012-08-03 NO NO12741354A patent/NO2740012T3/no unknown
- 2012-08-03 DK DK12741354.0T patent/DK2740012T3/en active
Also Published As
| Publication number | Publication date |
|---|---|
| KR20140065405A (ko) | 2014-05-29 |
| KR101958043B1 (ko) | 2019-03-13 |
| US20150343633A1 (en) | 2015-12-03 |
| FR2978844B1 (fr) | 2014-03-21 |
| JP2014522741A (ja) | 2014-09-08 |
| CN104011613A (zh) | 2014-08-27 |
| WO2013017676A1 (fr) | 2013-02-07 |
| ES2659053T3 (es) | 2018-03-13 |
| NO2740012T3 (pt) | 2018-04-21 |
| EP2740012A1 (fr) | 2014-06-11 |
| US9555543B2 (en) | 2017-01-31 |
| DK2740012T3 (en) | 2018-02-12 |
| BR112014002744A2 (pt) | 2017-06-13 |
| JP6343559B2 (ja) | 2018-06-13 |
| EP2740012B1 (fr) | 2017-11-22 |
| CN104011613B (zh) | 2017-02-15 |
| FR2978844A1 (fr) | 2013-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| BR112014002744A8 (pt) | robô com articulações de rigidez variável e método de cálculo de referida otimizada | |
| CO6920260A2 (es) | Ambiente de aplicación múltiple | |
| BR112013029226A2 (pt) | método de cimentação e fluído curável | |
| BR112014007871A2 (pt) | método de construção de lista de intercalação | |
| BR112014000425A2 (pt) | montagem de direção e acionamento | |
| DK2691685T3 (da) | Rørledningsredskab | |
| IT1404527B1 (it) | Polso di robot articolato. | |
| CU24160B1 (es) | Panel de construcción y metodo de fabricación | |
| FR2960467B1 (fr) | Equipement de robotique collaborative | |
| BR112014001733A2 (pt) | sistemas e conjuntos de ferramentas | |
| IT1404530B1 (it) | Robot manipolatore. | |
| DE112012000691A5 (de) | Elastischer Gelenkkörper | |
| BR112014002502A2 (pt) | aparelhagem de processamento de informação de veículo e método de processamento de informação de veículo | |
| DK2492062T4 (da) | Industrirobot | |
| BR112013025768A2 (pt) | método de soldagem de dupla face | |
| CO6990674A2 (es) | Método de subasta y servidor | |
| BR112013023484A2 (pt) | concentrados de suspensão | |
| FR2970312B1 (fr) | Joint semi-ondule | |
| CO6801704A2 (es) | Unidad de recuperación de azufre y su método de recuperación de azufre | |
| BR112013015580A2 (pt) | método de radioestabilização | |
| IT1404528B1 (it) | Polso di robot articolato. | |
| BR112013005607A2 (pt) | sistemas de usinagem e métodos | |
| IT1404529B1 (it) | Polso di robot articolato. | |
| DK2858790T3 (da) | Rullende robot med en arm | |
| TH113687B (th) | ข้อต่อ |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| B06F | Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette] | ||
| B350 | Update of information on the portal [chapter 15.35 patent gazette] |