CN101898358A - 用于控制机械手的方法及装置 - Google Patents
用于控制机械手的方法及装置 Download PDFInfo
- Publication number
- CN101898358A CN101898358A CN2010101884393A CN201010188439A CN101898358A CN 101898358 A CN101898358 A CN 101898358A CN 2010101884393 A CN2010101884393 A CN 2010101884393A CN 201010188439 A CN201010188439 A CN 201010188439A CN 101898358 A CN101898358 A CN 101898358A
- Authority
- CN
- China
- Prior art keywords
- track
- desired trajectory
- manipulator
- control track
- control
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- 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
- G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
- G05B19/4103—Digital interpolation
-
- 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
- G05B2219/33—Director till display
- G05B2219/33272—Conversion, transformation of data before and after interpolator
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34135—Spline
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34158—Tangents form curve
-
- 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
- G05B2219/36415—Adjust path and attitude tool by detecting path, line with a photosensor, laser
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computing Systems (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (16)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009023307.5 | 2009-05-29 | ||
DE102009023307A DE102009023307A1 (de) | 2009-05-29 | 2009-05-29 | Verfahren und Vorrichtung zur Steuerung eines Manipulators |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101898358A true CN101898358A (zh) | 2010-12-01 |
CN101898358B CN101898358B (zh) | 2015-06-17 |
Family
ID=42732429
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201010188439.3A Active CN101898358B (zh) | 2009-05-29 | 2010-05-31 | 用于控制机械手的方法及装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8774965B2 (zh) |
EP (1) | EP2255931B2 (zh) |
KR (1) | KR101798652B1 (zh) |
CN (1) | CN101898358B (zh) |
DE (1) | DE102009023307A1 (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103907068A (zh) * | 2011-09-02 | 2014-07-02 | 布鲁克斯自动化公司 | 用于机器人传送装置的时间最佳轨迹 |
CN104254430A (zh) * | 2012-03-07 | 2014-12-31 | 佳能株式会社 | 机器人控制设备、机器人装置、机器人控制方法、用于执行机器人控制方法的程序、及在其上记录程序的记录介质 |
CN106003056A (zh) * | 2015-03-09 | 2016-10-12 | 库卡罗伯特有限公司 | 改变初始设定的机器人轨迹 |
WO2017219640A1 (zh) * | 2016-06-20 | 2017-12-28 | 广州视源电子科技股份有限公司 | 一种机械臂的轨迹规划方法及装置 |
WO2018086226A1 (zh) * | 2016-11-09 | 2018-05-17 | 广州视源电子科技股份有限公司 | 机械臂的控制方法和装置 |
Families Citing this family (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2453325A1 (en) * | 2010-11-16 | 2012-05-16 | Universal Robots ApS | Method and means for controlling a robot |
SG11201400923QA (en) | 2011-09-28 | 2014-04-28 | Universal Robots As | Calibration and programming of robots |
CN102581849B (zh) * | 2012-01-05 | 2014-08-06 | 东南大学 | 一种基于nc代码的工业机器人轨迹规划方法 |
DE102013225879A1 (de) | 2013-12-13 | 2015-07-02 | Robert Bosch Gmbh | Verfahren zur Steuerung eines Manipulators |
DE102013225890A1 (de) | 2013-12-13 | 2015-06-18 | Robert Bosch Gmbh | Verfahren zur Steuerung eines Manipulators |
CA2940490C (en) | 2014-03-04 | 2022-07-12 | Universal Robots A/S | Safety system for industrial robot |
KR102334980B1 (ko) | 2014-03-17 | 2021-12-06 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 기준 타겟과의 정렬을 위한 시스템 및 방법 |
DE102014210544B4 (de) | 2014-06-04 | 2023-04-13 | Robert Bosch Gmbh | Verfahren zur Steuerung eines Manipulators bei einer point-to-point Bewegung |
JP5790840B2 (ja) * | 2014-06-10 | 2015-10-07 | 株式会社デンソーウェーブ | ロボットの制御装置及びロボットの姿勢補間方法 |
CN106715058A (zh) | 2014-09-26 | 2017-05-24 | 泰拉丁公司 | 抓取手爪 |
KR102603939B1 (ko) | 2015-07-08 | 2023-11-20 | 유니버셜 로보츠 에이/에스 | 제3자 기여를 가진 산업용 로봇의 최종 사용자 프로그래밍 확장 방법 |
CN105573315B (zh) * | 2015-12-01 | 2020-04-10 | 珞石(北京)科技有限公司 | 用于工业机器人的笛卡尔空间轨迹的几何平滑方法 |
TWI805545B (zh) | 2016-04-12 | 2023-06-21 | 丹麥商環球機器人公司 | 用於藉由示範來程式化機器人之方法和電腦程式產品 |
DE102016220577A1 (de) | 2016-10-20 | 2018-05-09 | Robert Bosch Gmbh | Verfahren zum Optimieren von Bewegungskonturen eines Manipulators |
WO2018126354A1 (zh) * | 2017-01-04 | 2018-07-12 | 深圳配天智能技术研究院有限公司 | 机器人运动轨迹规划方法及相关装置 |
US10207404B2 (en) * | 2017-02-09 | 2019-02-19 | X Development Llc | Generating a robot control policy from demonstrations collected via kinesthetic teaching of a robot |
JP7065721B2 (ja) * | 2018-07-31 | 2022-05-12 | 川崎重工業株式会社 | ロボットシステム |
CN109551485B (zh) | 2019-01-21 | 2020-10-16 | 北京镁伽机器人科技有限公司 | 运动控制方法、装置和系统及存储介质 |
JP7222803B2 (ja) * | 2019-04-25 | 2023-02-15 | 株式会社日立製作所 | 軌道計画装置、軌道計画方法及びプログラム |
EP3738722A1 (de) * | 2019-05-13 | 2020-11-18 | Siemens Aktiengesellschaft | Planung von trajektorien für die produktion von werkstücken |
EP3993963A4 (en) * | 2019-08-23 | 2022-08-24 | Realtime Robotics, Inc. | MOTION PLANNING FOR ROBOTS TO OPTIMIZE SPEED WHILE RESPECTING ACCELERATION AND JERK LIMITS |
CN112621739B (zh) * | 2019-10-08 | 2022-03-15 | 东元电机股份有限公司 | 机器人及其路径插值规划命令产生系统 |
KR20200144038A (ko) | 2019-10-25 | 2020-12-28 | (주)큐알피 | 산업용 적재로봇 제어 시스템 |
CN113835423B (zh) * | 2020-06-08 | 2024-03-26 | 苏州艾吉威机器人有限公司 | 基于b样条曲线的路径规划方法、运动控制方法及系统 |
US20220063099A1 (en) * | 2020-09-03 | 2022-03-03 | Fanuc Corporation | Framework of robotic online motion planning |
US20240103481A1 (en) * | 2020-12-25 | 2024-03-28 | Fanuc Corporation | Numerical controller |
CN114200931B (zh) * | 2021-12-01 | 2023-06-13 | 浙江大学 | 一种基于b样条曲线优化的移动机器人路径平滑方法 |
CN116079714A (zh) * | 2022-12-02 | 2023-05-09 | 盐城工学院 | 一种基于b样条的六轴机械臂轨迹规划方法 |
Citations (11)
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JPS59231608A (ja) * | 1983-06-14 | 1984-12-26 | Mitsubishi Electric Corp | ロボツト制御装置 |
WO2000073967A1 (en) * | 1999-05-28 | 2000-12-07 | Brooks Automation, Inc. | Robotic manipulators based on pre-defined time-optimum trajectory shape |
US6292715B1 (en) * | 1998-10-27 | 2001-09-18 | Perry Investments, Inc. | Robotic process planning method and apparatus using templates |
JP3462570B2 (ja) * | 1994-05-09 | 2003-11-05 | ファナック株式会社 | ロボット動作プログラムの作成方法 |
EP1418480A2 (de) * | 2002-11-06 | 2004-05-12 | KUKA Roboter GmbH | Verfahren und Vorrichtung zum Steuern von Bewegungen eines Handhabungsgeräts mittels Interpolationen durch Splines |
CN1743148A (zh) * | 2004-09-02 | 2006-03-08 | 发那科株式会社 | 机器人间的防止干涉控制装置 |
US20060069466A1 (en) * | 2004-09-29 | 2006-03-30 | Tetsuaki Kato | Method for controlling trajectory of robot |
US20070030271A1 (en) * | 2005-08-05 | 2007-02-08 | Denso Wave Incorporated | Robot controller and robot control method using spline interpolation |
US20070046677A1 (en) * | 2005-03-23 | 2007-03-01 | Hurco Companies, Inc. | Method of tolerance-based trajectory planning |
CN101077578A (zh) * | 2007-07-03 | 2007-11-28 | 北京控制工程研究所 | 一种基于二元环境信息的移动机器人局部路径规划方法 |
CN101401047A (zh) * | 2006-03-14 | 2009-04-01 | 丰田自动车株式会社 | 用于移动单元的轨道跟踪控制系统与方法 |
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-
2009
- 2009-05-29 DE DE102009023307A patent/DE102009023307A1/de not_active Ceased
-
2010
- 2010-05-19 EP EP10005239.8A patent/EP2255931B2/de active Active
- 2010-05-27 KR KR1020100049721A patent/KR101798652B1/ko active IP Right Grant
- 2010-05-28 US US12/789,657 patent/US8774965B2/en active Active
- 2010-05-31 CN CN201010188439.3A patent/CN101898358B/zh active Active
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JPS59231608A (ja) * | 1983-06-14 | 1984-12-26 | Mitsubishi Electric Corp | ロボツト制御装置 |
JP3462570B2 (ja) * | 1994-05-09 | 2003-11-05 | ファナック株式会社 | ロボット動作プログラムの作成方法 |
US6292715B1 (en) * | 1998-10-27 | 2001-09-18 | Perry Investments, Inc. | Robotic process planning method and apparatus using templates |
WO2000073967A1 (en) * | 1999-05-28 | 2000-12-07 | Brooks Automation, Inc. | Robotic manipulators based on pre-defined time-optimum trajectory shape |
EP1418480A2 (de) * | 2002-11-06 | 2004-05-12 | KUKA Roboter GmbH | Verfahren und Vorrichtung zum Steuern von Bewegungen eines Handhabungsgeräts mittels Interpolationen durch Splines |
CN1743148A (zh) * | 2004-09-02 | 2006-03-08 | 发那科株式会社 | 机器人间的防止干涉控制装置 |
US20060069466A1 (en) * | 2004-09-29 | 2006-03-30 | Tetsuaki Kato | Method for controlling trajectory of robot |
US20070046677A1 (en) * | 2005-03-23 | 2007-03-01 | Hurco Companies, Inc. | Method of tolerance-based trajectory planning |
US20070030271A1 (en) * | 2005-08-05 | 2007-02-08 | Denso Wave Incorporated | Robot controller and robot control method using spline interpolation |
CN101401047A (zh) * | 2006-03-14 | 2009-04-01 | 丰田自动车株式会社 | 用于移动单元的轨道跟踪控制系统与方法 |
CN101077578A (zh) * | 2007-07-03 | 2007-11-28 | 北京控制工程研究所 | 一种基于二元环境信息的移动机器人局部路径规划方法 |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103907068A (zh) * | 2011-09-02 | 2014-07-02 | 布鲁克斯自动化公司 | 用于机器人传送装置的时间最佳轨迹 |
US9517558B2 (en) | 2011-09-02 | 2016-12-13 | Brooks Automation Inc. | Time-optimal trajectories for robotic transfer devices |
US10058998B2 (en) | 2011-09-02 | 2018-08-28 | Brooks Automation, Inc. | Time-optimal trajectories for robotic transfer devices |
US10967511B2 (en) | 2011-09-02 | 2021-04-06 | Brooks Automation, Inc. | Time-optimal trajectories for robotic transfer devices |
CN104254430A (zh) * | 2012-03-07 | 2014-12-31 | 佳能株式会社 | 机器人控制设备、机器人装置、机器人控制方法、用于执行机器人控制方法的程序、及在其上记录程序的记录介质 |
US9221174B2 (en) | 2012-03-07 | 2015-12-29 | Canon Kabushiki Kaisha | Robot controlling device, robot apparatus, robot control method, program for executing robot control method, and recording medium on which program is recorded |
CN104254430B (zh) * | 2012-03-07 | 2016-05-11 | 佳能株式会社 | 机器人控制设备、机器人装置及机器人控制方法和装置 |
CN106003056A (zh) * | 2015-03-09 | 2016-10-12 | 库卡罗伯特有限公司 | 改变初始设定的机器人轨迹 |
US9902065B2 (en) | 2015-03-09 | 2018-02-27 | Kuka Roboter Gmbh | Altering an initially predetermined robot path |
CN106003056B (zh) * | 2015-03-09 | 2019-03-08 | 库卡罗伯特有限公司 | 改变初始设定的机器人轨迹 |
WO2017219640A1 (zh) * | 2016-06-20 | 2017-12-28 | 广州视源电子科技股份有限公司 | 一种机械臂的轨迹规划方法及装置 |
WO2018086226A1 (zh) * | 2016-11-09 | 2018-05-17 | 广州视源电子科技股份有限公司 | 机械臂的控制方法和装置 |
Also Published As
Publication number | Publication date |
---|---|
KR101798652B1 (ko) | 2017-11-16 |
EP2255931B2 (de) | 2020-12-23 |
EP2255931B1 (de) | 2018-03-07 |
EP2255931A2 (de) | 2010-12-01 |
KR20100129206A (ko) | 2010-12-08 |
DE102009023307A1 (de) | 2010-12-02 |
US8774965B2 (en) | 2014-07-08 |
CN101898358B (zh) | 2015-06-17 |
US20100305753A1 (en) | 2010-12-02 |
EP2255931A3 (de) | 2014-04-30 |
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