CN102011932A - 用于停止操纵器的方法和装置 - Google Patents
用于停止操纵器的方法和装置 Download PDFInfo
- Publication number
- CN102011932A CN102011932A CN2010102752758A CN201010275275A CN102011932A CN 102011932 A CN102011932 A CN 102011932A CN 2010102752758 A CN2010102752758 A CN 2010102752758A CN 201010275275 A CN201010275275 A CN 201010275275A CN 102011932 A CN102011932 A CN 102011932A
- Authority
- CN
- China
- Prior art keywords
- stopping distance
- load
- manipulator
- advance
- robot
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- 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
- G05B2219/39082—Collision, real time collision avoidance
-
- 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
- G05B2219/39098—Estimate stop, brake distance in predef time, then verify if in safe distance
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims (11)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009040145A DE102009040145A1 (de) | 2009-09-04 | 2009-09-04 | Verfahren und Vorrichtung zum Stillsetzen eines Manipulators |
DE102009040145.8 | 2009-09-04 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102011932A true CN102011932A (zh) | 2011-04-13 |
CN102011932B CN102011932B (zh) | 2013-12-18 |
Family
ID=43385655
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2010102752758A Expired - Fee Related CN102011932B (zh) | 2009-09-04 | 2010-09-06 | 用于停止操纵器的方法和装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8583285B2 (zh) |
EP (1) | EP2292388B1 (zh) |
KR (1) | KR101265903B1 (zh) |
CN (1) | CN102011932B (zh) |
AT (1) | ATE552076T1 (zh) |
DE (1) | DE102009040145A1 (zh) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105643621A (zh) * | 2014-11-26 | 2016-06-08 | 库卡罗伯特有限公司 | 用于使机器人设备运行的方法和机器人设备 |
CN105717872A (zh) * | 2014-12-22 | 2016-06-29 | 库卡罗伯特有限公司 | 在轨迹上有条件地停止至少一个操纵器的方法和操纵器组 |
CN106163744A (zh) * | 2014-04-11 | 2016-11-23 | 库卡罗伯特有限公司 | 用于运行制动器的方法和对应的机器、特别是机器人 |
CN107088878A (zh) * | 2016-02-17 | 2017-08-25 | 发那科株式会社 | 计算扫描空间的机器人的模拟装置 |
CN107107338A (zh) * | 2014-12-17 | 2017-08-29 | 库卡罗伯特有限公司 | 用于安全地联接和断开输入设备的方法 |
CN108568815A (zh) * | 2017-03-13 | 2018-09-25 | 发那科株式会社 | 机器人系统和机器人控制方法 |
CN110914019A (zh) * | 2017-08-02 | 2020-03-24 | Abb瑞士股份有限公司 | 机器人停止距离模拟方法 |
CN111479660A (zh) * | 2017-12-14 | 2020-07-31 | 优傲机器人公司 | 包括确保停止时间和距离的安全系统的机器人 |
CN114012721A (zh) * | 2021-10-28 | 2022-02-08 | 珠海格力电器股份有限公司 | 机器人刹车控制方法、装置及相关设备 |
CN114074326A (zh) * | 2020-08-14 | 2022-02-22 | 苏州艾利特机器人有限公司 | 一种确保机器人位姿边界限制的安全系统 |
Families Citing this family (24)
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---|---|---|---|---|
US9026299B2 (en) * | 2012-07-09 | 2015-05-05 | Deere & Company | Navigation system and method for autonomous mower |
JP5835254B2 (ja) * | 2013-03-15 | 2015-12-24 | 株式会社安川電機 | ロボットシステム、及び、ロボットシステムの制御方法 |
US9517561B2 (en) | 2014-08-25 | 2016-12-13 | Google Inc. | Natural pitch and roll |
DE102014226914B4 (de) | 2014-12-23 | 2019-02-28 | Kuka Deutschland Gmbh | Override basierte vorausschauende Geschwindigkeitskappung |
US9440353B1 (en) * | 2014-12-29 | 2016-09-13 | Google Inc. | Offline determination of robot behavior |
JP6077592B2 (ja) | 2015-05-29 | 2017-02-08 | ファナック株式会社 | ブレーキの異常を検出する機能を備えたモータ制御システムおよびブレーキ異常検出方法 |
JP6309990B2 (ja) * | 2016-03-24 | 2018-04-11 | ファナック株式会社 | 複数の機構ユニットにより構成されたロボットを制御するロボットシステム、該機構ユニット、およびロボット制御装置 |
US9987745B1 (en) | 2016-04-01 | 2018-06-05 | Boston Dynamics, Inc. | Execution of robotic tasks |
EP3243609A1 (en) * | 2016-05-09 | 2017-11-15 | OpiFlex Automation AB | A fenceless industrial robot system |
US10960543B2 (en) * | 2017-05-30 | 2021-03-30 | Sisu Devices, LLC | Robotic point capture and motion control |
JP7013766B2 (ja) * | 2017-09-22 | 2022-02-01 | セイコーエプソン株式会社 | ロボット制御装置、ロボットシステム、及び制御方法 |
DE102017010599A1 (de) * | 2017-11-15 | 2019-05-16 | Kuka Deutschland Gmbh | Verfahren und System zum Simulieren eines Bremsvorgangs eines Roboters |
CN108098751A (zh) * | 2017-12-06 | 2018-06-01 | 珠海格力节能环保制冷技术研究中心有限公司 | 机械手自动急停装置和自动急停控制方法 |
EP3569366B1 (en) | 2018-05-17 | 2023-06-28 | Siemens Aktiengesellschaft | Robot control method and apparatus |
US11065553B2 (en) | 2018-05-18 | 2021-07-20 | Universal City Studios Llc | Systems and methods for securing a movable arm of a ride vehicle |
EP3572971B1 (de) * | 2018-05-22 | 2021-02-24 | Sick Ag | Absichern eines überwachungsbereichs mit mindestens einer maschine |
WO2019238975A1 (en) | 2018-06-15 | 2019-12-19 | Universal Robots A/S | Dual mode free-drive of robot arm |
EP3807058A1 (en) * | 2018-06-15 | 2021-04-21 | Universal Robots A/S | Estimation of payload attached to a robot arm |
US11254004B2 (en) | 2018-08-30 | 2022-02-22 | Veo Robotics, Inc. | System identification of industrial robot dynamics for safety-critical applications |
US11597085B2 (en) | 2018-09-13 | 2023-03-07 | The Charles Stark Draper Laboratory, Inc. | Locating and attaching interchangeable tools in-situ |
DE102019121628B3 (de) * | 2019-08-12 | 2020-08-20 | Franka Emika Gmbh | Verfahren zum Betreiben eines Robotermanipulators mit erhöhter Masse einer Last |
DE102019125326B3 (de) * | 2019-09-20 | 2020-12-03 | Franka Emika Gmbh | Prognostizierter Bremsbereich eines Robotermanipulators |
JP7326139B2 (ja) * | 2019-12-09 | 2023-08-15 | 株式会社東芝 | 作業支援装置、作業支援方法、プログラム、および作業支援システム |
CN113370212A (zh) * | 2021-06-25 | 2021-09-10 | 三一建筑机器人(西安)研究院有限公司 | 桁架机械手安全操作方法、装置及控制系统 |
Citations (5)
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EP1332841A2 (de) * | 2002-01-16 | 2003-08-06 | Dürr Systems GmbH | Verfahren zur Steuerung eines Roboters und Steuereinheit für einen Roboter |
CN1461693A (zh) * | 2002-05-30 | 2003-12-17 | 库卡-罗伯特有限公司 | 用于避免在协作机器人之间的碰撞的方法和控制装置 |
EP1752702A1 (de) * | 2005-08-05 | 2007-02-14 | Reis GmbH & Co. KG Maschinenfabrik | Verfahren und System zur Überwachung von Kollisionen zwischen Robotern und Personen |
EP1901150A1 (en) * | 2006-09-14 | 2008-03-19 | Abb Research Ltd. | A method and device for avoiding collisions between an industrial robot and an object |
DE102008013431A1 (de) * | 2008-03-10 | 2009-05-07 | Siemens Aktiengesellschaft | Verfahren und Vorrichtung zum sicherheitsgerichteten Stillsetzen einer Maschine |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0179252A3 (de) * | 1984-09-14 | 1987-07-15 | Siemens Aktiengesellschaft | Verfahren und Einrichtung zum Schutz von Personen, die sich im Aktionsbereich eines beweglichen Maschinenteils einer verfahr- oder verschwenkbaren Arbeitsmaschine, insbesondere eines Industrieroboters, aufhalten |
JP3975959B2 (ja) * | 2003-04-23 | 2007-09-12 | トヨタ自動車株式会社 | ロボット動作規制方法とその装置およびそれを備えたロボット |
EP1682283B1 (en) * | 2003-11-06 | 2008-08-06 | Fanuc Robotics America, Inc. | Compact robotic painting booth |
DE102004041821A1 (de) * | 2004-08-27 | 2006-03-16 | Abb Research Ltd. | Vorrichtung und Verfahren zur Sicherung eines maschinell gesteuerten Handhabungsgerätes |
US8219245B2 (en) * | 2006-05-15 | 2012-07-10 | Kuka Roboter Gmbh | Articulated arm robot |
-
2009
- 2009-09-04 DE DE102009040145A patent/DE102009040145A1/de not_active Withdrawn
-
2010
- 2010-08-17 AT AT10008576T patent/ATE552076T1/de active
- 2010-08-17 EP EP10008576A patent/EP2292388B1/de not_active Not-in-force
- 2010-09-03 KR KR1020100086460A patent/KR101265903B1/ko active IP Right Grant
- 2010-09-03 US US12/875,351 patent/US8583285B2/en not_active Expired - Fee Related
- 2010-09-06 CN CN2010102752758A patent/CN102011932B/zh not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1332841A2 (de) * | 2002-01-16 | 2003-08-06 | Dürr Systems GmbH | Verfahren zur Steuerung eines Roboters und Steuereinheit für einen Roboter |
CN1461693A (zh) * | 2002-05-30 | 2003-12-17 | 库卡-罗伯特有限公司 | 用于避免在协作机器人之间的碰撞的方法和控制装置 |
EP1752702A1 (de) * | 2005-08-05 | 2007-02-14 | Reis GmbH & Co. KG Maschinenfabrik | Verfahren und System zur Überwachung von Kollisionen zwischen Robotern und Personen |
EP1901150A1 (en) * | 2006-09-14 | 2008-03-19 | Abb Research Ltd. | A method and device for avoiding collisions between an industrial robot and an object |
DE102008013431A1 (de) * | 2008-03-10 | 2009-05-07 | Siemens Aktiengesellschaft | Verfahren und Vorrichtung zum sicherheitsgerichteten Stillsetzen einer Maschine |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106163744A (zh) * | 2014-04-11 | 2016-11-23 | 库卡罗伯特有限公司 | 用于运行制动器的方法和对应的机器、特别是机器人 |
CN105643621B (zh) * | 2014-11-26 | 2021-02-23 | 库卡罗伯特有限公司 | 用于使机器人设备运行的方法和机器人设备 |
CN105643621A (zh) * | 2014-11-26 | 2016-06-08 | 库卡罗伯特有限公司 | 用于使机器人设备运行的方法和机器人设备 |
CN107107338A (zh) * | 2014-12-17 | 2017-08-29 | 库卡罗伯特有限公司 | 用于安全地联接和断开输入设备的方法 |
US10518415B2 (en) | 2014-12-17 | 2019-12-31 | Kuka Deutschland Gmbh | Method for safe coupling and decoupling of an input device |
CN105717872A (zh) * | 2014-12-22 | 2016-06-29 | 库卡罗伯特有限公司 | 在轨迹上有条件地停止至少一个操纵器的方法和操纵器组 |
CN105717872B (zh) * | 2014-12-22 | 2019-12-31 | 库卡罗伯特有限公司 | 在轨迹上有条件地停止至少一个操纵器的方法和操纵器组 |
CN107088878A (zh) * | 2016-02-17 | 2017-08-25 | 发那科株式会社 | 计算扫描空间的机器人的模拟装置 |
CN107088878B (zh) * | 2016-02-17 | 2020-04-03 | 发那科株式会社 | 计算扫描空间的机器人的模拟装置 |
CN108568815A (zh) * | 2017-03-13 | 2018-09-25 | 发那科株式会社 | 机器人系统和机器人控制方法 |
CN110914019A (zh) * | 2017-08-02 | 2020-03-24 | Abb瑞士股份有限公司 | 机器人停止距离模拟方法 |
CN110914019B (zh) * | 2017-08-02 | 2023-12-08 | Abb瑞士股份有限公司 | 机器人停止距离模拟方法 |
CN111479660A (zh) * | 2017-12-14 | 2020-07-31 | 优傲机器人公司 | 包括确保停止时间和距离的安全系统的机器人 |
CN111479660B (zh) * | 2017-12-14 | 2024-02-09 | 优傲机器人公司 | 包括确保停止时间和距离的安全系统的机器人 |
CN114074326A (zh) * | 2020-08-14 | 2022-02-22 | 苏州艾利特机器人有限公司 | 一种确保机器人位姿边界限制的安全系统 |
CN114012721A (zh) * | 2021-10-28 | 2022-02-08 | 珠海格力电器股份有限公司 | 机器人刹车控制方法、装置及相关设备 |
Also Published As
Publication number | Publication date |
---|---|
CN102011932B (zh) | 2013-12-18 |
KR20110025626A (ko) | 2011-03-10 |
DE102009040145A1 (de) | 2011-03-10 |
ATE552076T1 (de) | 2012-04-15 |
US20110060462A1 (en) | 2011-03-10 |
EP2292388B1 (de) | 2012-04-04 |
US8583285B2 (en) | 2013-11-12 |
EP2292388A1 (de) | 2011-03-09 |
KR101265903B1 (ko) | 2013-05-20 |
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Legal Events
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
ASS | Succession or assignment of patent right |
Owner name: KUKA EXPERIMENTAL INSTRUMENT CO., LTD. Free format text: FORMER OWNER: AMATEC ROBOTICS GMBH Effective date: 20110510 |
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C41 | Transfer of patent application or patent right or utility model | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20110510 Address after: Augsburg Applicant after: Kuka Lab GmbH Address before: Augsburg Applicant before: Amatec Robotics GmbH |
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C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131218 Termination date: 20200906 |
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CF01 | Termination of patent right due to non-payment of annual fee |