CN102648074B - Robot system and attached control method - Google Patents
Robot system and attached control method Download PDFInfo
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- CN102648074B CN102648074B CN200980161125.XA CN200980161125A CN102648074B CN 102648074 B CN102648074 B CN 102648074B CN 200980161125 A CN200980161125 A CN 200980161125A CN 102648074 B CN102648074 B CN 102648074B
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- 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
- G05B2219/33334—Load balancing, distribution between processors
-
- 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
- G05B2219/33339—Controller with lowest operation rate is selected as master
-
- 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
- G05B2219/33341—Peer to peer, change master if overloaded
-
- 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
- G05B2219/39102—Manipulator cooperating with conveyor
-
- 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
- G05B2219/39117—Task distribution between involved manipulators
-
- 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
- G05B2219/45063—Pick and place manipulator
Abstract
The present invention relates to robot system (10), it comprises at least Liang Ge robot (12 picking and placeing application for little workpiece (20), 14,16) dependent processing unit (22 and is respectively comprised, 24,26), wherein said processing unit (22,24,26) network-bus (28) for data transmission is connected to.Above-mentioned processing unit (22,24) at least two alternately can also perform coordination function as main device (22), and wherein at least remaining another processing unit (24) can immediately as main device adapter coordination function for subsequent use under the failure condition of the main device of reality (22).The invention still further relates to attached control method.
Description
Technical field
The present invention relates to robot system, robot system comprises at least Liang Ge robot picking and placeing application for little workpiece, respectively comprise dependent processing unit, wherein processing unit is connected to the network-bus for data transmission, control data can be supplied to processing unit from network-bus, and export data and can be supplied to network-bus from processing unit, robot system comprises at least one conveyer belt of the transmission for little workpiece, robot system comprises the distributed sensor parts for pick-up transducers data in the local expanded range of robot system, sensing data can be supplied to network-bus, robot system comprises the device with coordination function, so that by providing control data to carry out Coordination Treatment unit via network-bus to it based on the analysis at least exporting data and sensing data.
Background technology
It is known that the corresponding manipulator of robot or robot uses in the job applications such as workpiece being assembled into finished product, packaging wisp or screening wisp and so on.Robot generally includes some one-movement-freedom-degrees, such as three or six-freedom degree.Each one-movement-freedom-degree requires Standalone Drives, makes the robot with six one-movement-freedom-degrees such as provide six motor drivers.
The robot such as with three one-movement-freedom-degrees can have the ability of mobile interface platform on its robots arm tip in the geometry three-dimensional within its working range.For some application, gripping apparatus is arranged on interface platform.Such robot is suitable for so-calledly picking and placeing application, and wherein robot is such as arranged on above conveyer belt, the multiple independent wisp of conveyer belt transmission, and these wisps are treated from conveyer belt pickup and later packaged.Those robots can have the working range of such as +/-50cm in each geometry dimension, wherein usual some concurrent working Robot conveyer belts are arranged.Such as a kind of similar application is disclosed in US6328523.
Each robot is usually by attached and be preferably special robot controller and control.Robot controller is the processing unit similar to PC, and provides memory and computing capability.To expect that robot moves and/or robot mobile sequence is stored in the memory of robot controller as robot program.If robot starts working, then robot controller calculates the control signal of the driver of (anticipated movement based on according to selected robot program) robot.Usually, robot program can become and be subject to external control signal impact.In the simplest and easy situation, this may be the stop signal when there is emergency.If meet some primary condition, the suggestion of wherein such as picking up certain workpiece can come together to provide together with the coordinate of attached workpiece, then may be also the triggering signal starting certain agenda.
Usual prediction independently control PC is coordinated the pickup comprised along in the robot system of some robots of conveyer belt and is moved.Sensor, such as filming apparatus are just being observed and from the object of conveyer belt pickup, and will just determined its position.Based on position and the real work load of each robot, control PC determines and assigns single pickup task to special purpose robot and to correspondingly attached robot controller.
This disadvantage of the prior art is, this control PC with coordination function is requirement for the optional feature of the additional work amount of programming and arrange or device, and whole robot system can not carry out work again under the failure condition of control PC.
Summary of the invention
Therefore, the object of this invention is to provide a kind of robot system eliminating these shortcomings.
This problem is resolved by the robot system of mentioned kind.The feature of this robot system is, at least two of above-mentioned processing unit alternately can also perform above-mentioned coordination function as main device, and wherein another processing unit at least remaining can immediately as main device adapter coordination function for subsequent use under the failure condition of the main device of reality.
Coordination function is integrated into processing unit and is correspondingly integrated in robot controller the reduction advantageously providing required number of components on the one hand.Therefore, it is possible to eliminate control PC.Standard robotic controller even provides the computing capability of increase, and this is not used by the controlling functions of robot itself usually completely.
Typical case picks and places robot and comprises and be less than common seven or six one-movement-freedom-degrees, and wherein in addition, the film aspect of movement also only has less importance.Therefore, the amount of calculation (namely comprising the control of the single driver of the so-called robot according to mobile process) picking and placeing the controlling functions of robot is performed such as low than the seven axle paint robots for auto industry.Due to cooperative effect, most of robots type of some robot building business is equipped with identical standard robotic controller usually, and these controllers are particularly for picking and placeing the application underload with its ancestral task usually.Therefore, particularly for picking and placeing application, what there is robot controller does not use overhead provision.
According to the present invention, these overhead provisions are used for the coordination function of front previous control PC to be integrated in robot controller itself.Robot controller and control PC are all the processing units with suitable ability.Additionally provide do not use calculated capacity owing to provide not only the connection of network-bus of linking for data transmission in the existing robot controller for picking and placeing application, so previously control PC (by it is functionally integrated into robot controller) and without the need to any large workload can be eliminated.The robot controller of adapter coordination function serves as main device, to avoid any interference to other processing unit.
Also in order to utilize the overhead provision of other robot controller, prediction use at least another robot controller as can as the stand-by provision of new main device adapter coordination function immediately under the failure condition of original main device.Therefore, improve the reliability of robot system, and without the need to any additional work amount of hardware.
According in a preferred embodiment of robot system of the present invention, at least output that network-bus provides and sensing data can both be continuously stored in each annex storage by the processing unit serving as actual main device and at least one processing unit serving as actual stand-by provision.
Therefore, the identical data history (basis as its coordination function) of robot system all stores in its memory by main device and stand-by provision.Therefore, it is possible that controlling functions is transferred to new main device immediately from main device, and without any the loss of time that data are transmitted.
According to an alternative embodiment of the invention, at least one of processing unit can analyze the sensing data gathered by sensor element.Preferably, at least one distributed sensor parts is filming apparatus, optical sensor or weight sensor.
The most important result of sensor data analysis is the position of little workpiece to be captured on conveyer belt and the determination of orientation.Those coordinates will to be divided by main device as additional information tasks special purpose robot's controller, and these controllers must control the pick process of attached little workpiece.
Therefore, filming apparatus is the fit closely sensor device gathering useful measurement data.The process of this view data gathered by filming apparatus is also the task of the additional calculations capacity of requirement processing unit.It is conceivable, that prediction is used for the additional special pretreatment unit of those view data that pretreatment may be directly related with attached filming apparatus.It is also be envisioned that the data analysis of this kind of image and correspondingly pretreatment are undertaken by the robot controller as the part of robot system.
Depend on the real work load of different processing units and correspondingly robot controller, preprocessing tasks can not only be undertaken by the robot controller serving as main or stand-by provision, can also from other robot controller.The task of pretreatment image is similarly handled: image has to pass through pretreated information data and is transmitted to main device with pickup task, the suggestion performing this task is divided the subsidiary machinery people controller tasked and have available calculated capacity by main device, and is transmitted to the processing unit serving as main device through pretreated data.Therefore, the great majority of the overhead provision provided by robot controller are likely provided.
This problem is also solved by a kind of method for controlling the robot system as described in any one in embodiment, and the method comprises the following steps
-output data are supplied to network-bus continuously from processing unit, wherein at least comprise the information and/or which little workpiece relevant with the real work load state of subsidiary machinery people and/or processing unit is picked up by subsidiary machinery people
-sensing data is supplied to network-bus continuously from distributed sensor parts, wherein at least comprise the information relevant with the position of the little workpiece will picked up from conveyer belt by robot
-data will be exported at least partly and sensing data is continually stored in the annex storage of the processing unit serving as main device and is stored into the memory of at least one processing unit serving as stand-by provision
-analyze output data and sensing data at least partly continuously by the processing unit serving as main device
-determine control data continuously, based on this for control, wherein at least comprise the information which object robot must pick up
-via network-bus, control data is supplied to processing unit continuously, wherein control data be exclusively used in selected processing unit and correspondingly relative robot at least partially, make the processing unit serving as main device perform coordination function with this
-the control data that provided according to the processing unit serving as main device by robot picks up little workpiece continuously from conveyer belt
The functional of the processing unit of main device is served as in-continuous review, and initiates in case of a fault coordination function to be transferred to immediately the processing unit serving as stand-by provision
The advantage of this method corresponds to the advantage of above-mentioned robot system: eliminate additional control PC, and robot system becomes more reliable, and without the need to additional firmware.
According to an advantageous variant of the present invention, measurement data provide timestamp at least partially.Owing to not having at those data of acquisition and the complete known Yan Chi – such as 10ms analyzing the measurement data between those data ... 1000ms, so the basis combined by the analysis result of measurement data as coordinating robot is quite difficult.Timestamp will realize the synchronously this of measurement data and correspondingly its analysis result.The clock of processing unit and external sensor involved by this policy mandates synchronous.
According to an advantageous variant of the method for control machine robot system of the present invention, the processing unit with the robot of lowest workload is selected to serve as main device in addition.
The live load of processing unit may be different because of the setting of robot production line.In many cases, last robot controller in robot production line may without the need to handling many pickup tasks, because most of workpiece is picked up by other robot.Possible, actual main device for good and all observes it oneself and the real work load of stand-by provision, and temporarily coordination of tasks is automatically transferred to stand-by provision when the significant difference of its live load.
In a preferred embodiment of the method in question, by the processing unit serving as main device, dynamic load balancing is comprised to the determination exporting data.Therefore, result is that all robots have approximately equal live load.
According to another modification of the present invention, carry out artificial affecting by the determination of processing unit paired domination number certificate of serving as main device by using the manual input device of attached processing unit.This artificial affecting is so far called ' thermal tuning ', and enables operator by some special frames conditions impose in robot system.Manual input device (teaching type pendant) provides together with robot usually, makes additional input device be eliminable.
Other advantageous embodiment of the present invention is proposed in this example.
Accompanying drawing explanation
Now by example embodiment and invention will be further ex-plained with reference to the appended drawings, accompanying drawing comprises:
Fig. 1 illustrates the example of robot system and data flow wherein.
Detailed description of the invention
Fig. 1 illustrates the example 10 of robot system and data flow wherein.First picks and places robot 12 is connected to attached first robot controller 22, the second and picks and places robot 14 and be connected to attached second robot controller 24, and the 3rd robot 16 and the 4th robot 18 are connected to the 3rd common robot controller 26.Robot controller 22,24,26 is standard robotic controllers, and its ancestral task is based on subsidiary machinery people mobile process and the movement correspondingly controlling connected robot 12,14,16,18 based on attached mobile process sequence.
Robot controller 22,24,26 is similar to the PC it storing robot program.Robot program comprises the anticipated movement path of the pick tool be arranged in each robot 12,14,16,18, and wherein its mobile route can be affected by external control data 32 adaptively.The control data 32 initiating the pickup task of subsidiary machinery people 12,14,16,18 also comprises the coordinate of workpiece 20 to be picked up.
Control data 32 is determined by the first control unit 22 and is provided, and the first control unit 22 is except as the main device also served as except the original function of robot controller for coordinating robot's system 10.The coordination of robot system 10 comprises collects some system datas 30,34, analyze those data 30,34, and send control data 32 and to be picked up the attached coordinate determining little workpiece 20 to special purpose robot's controller and to correspondingly relative robot.The network-bus 28 that the data of those data 30,32,34 pass through for data transmission realizes.
In this illustration, export data 30 by processing unit and correspondingly robot controller 24,26 provide, and send the first processing unit 22 serving as main device to.Certainly, the output data also considering main device itself in control data 32 are being determined.Export data 30 and comprise such as whether pick up the information of workpiece 20 and/or the information relevant with the current loads of robot itself by subsidiary machinery people, also have the information relevant with the current work load of robot controller.
Sensing data 34 is provided by some distributed sensors 38,40,42,48, and comprises the information of quantity for determining the workpiece 20 be positioned on moving conveyor belt 46, position and orientation.The data 34 from different sensors 38,40,44,48 are collected in sensor network 36.In order to also consider the movement of conveyer belt 46, revolution indicator 48 provides the information relevant with translational speed directly or indirectly.Other sensor 38,40,42 is filming apparatus of the little workpiece 20 on observation conveyer belt 46.Based on those data, likely determine position and the orientation of workpiece 20.Third shot is taken the photograph to the pretreatment of the image of device 42, prediction is used for the additional handling device 44 of sensing data, wherein other filming apparatus 38 and 40 image by processing unit and correspondingly robot controller 22,24,26 analyze.Usually, the robot controller 22,24,26 with lowest workload is assigned by main device 22, to analyze those images.
Based on through pretreatment and correspondingly not pretreated sensing data 34 and export data 30, main device 22 have enough information to determine required pickup task and by those task assignments to special purpose robot's controller 22,24,26.
In this illustration, the 3rd robot controller 26 is responsible for control Liang Ge robot 16,18.Therefore, the live load for the robot controller 26 of control Liang Ge robot is higher, makes reservation not use calculated capacity by few.First robot controller 22 serves as main device, and wherein the second robot controller 24 serves as stand-by provision, so that in the main device qualification of malfunctioning situation lower linking tube of the first robot controller 22.The density of the workpiece 20 that will pick up from conveyer belt 46 is quite low in the end of conveyer belt 46, makes the first processing unit 22 serving as main device under any circumstance have enough calculated capacities to perform at least coordination function of robot system 10.
The pretreatment of the image of filming apparatus 38 and 40 is preferably undertaken by the second processing unit 24 serving as stand-by provision.Except its original function as robot controller 24, it only from the first treating apparatus 22 sensing data 34 and export data 30a and be stored in its memory.Therefore, it is possible to the enough idle calculated capacity of supposition is available.Require data 30a, 34 to be stored in the memory of the second treating apparatus 24, to guarantee that treating apparatus 24 can in case of a fault immediately from main device 22 adapter coordination of tasks.
In order to detect malfunctioning or fault, actual master controller can send heartbeat, as ping messages (pingmessage) to stand-by provision and to correspondingly copying master controller.If stand-by provision does not receive heartbeat within the specified time period, then suppose that actual main device is out of order, and bear its responsibility.In order to ensure high availability, one of other processing unit should be promoted to stand-by provision when taking over by the stand-by provision bearing the responsibility of actual main device.It is conceivable, that also compare the data stored in the annex storage of master unit and stand-by unit continuously, to obtain the reliability improved.
It is also be envisioned that, when compared with the live load of the second processing unit 24, serve as the obviously higher live load of the first processing unit 22 of main device, main device qualification is also transferred to the second processing unit 24.This transfer is preferably initiated by current master controller.
List of reference characters
The example of 10 robot systems and data flow wherein
12 for picking and placeing the first robot of application
14 for picking and placeing the second robot of application
16 for picking and placeing the 3rd robot of application
18 for picking and placeing the 4th robot of application
20 little workpieces
22 first processing units (serving as main device)
24 second processing units (serving as stand-by provision)
26 the 3rd processing units
28 for data transmission network bus
30 output streams
The output stream of 30a main device for subsequent use
32 control data streams
34 sensor data streams
36 sensor networks
38 first filming apparatus
40 second filming apparatus
42 third shots take the photograph device
44 for the treating apparatus of sensing data
46 conveyer belts
48 revolution indicators
Claims (8)
1. a robot system (10), it comprises:
For at least Liang Ge robot (12 picking and placeing application of little workpiece (20), 14,16), respectively comprise dependent processing unit (22,24,26), wherein said processing unit (22,24,26) network-bus (28) for data transmission is connected to, control data (32) can be supplied to described processing unit (22,24,26) from described network-bus (28), and exporting data (30) can from described processing unit (22,24,26) described network-bus (28) is supplied to
At least one conveyer belt (46), for the transmission of little workpiece (20),
Distributed sensor parts (38,40,42,48), for pick-up transducers data (34) in the local expanded range of described robot system, described sensing data (34) can be supplied to described network-bus (28)
There is the device of coordination function, so that by the analysis based at least described output data (30) and described sensing data (34) via described network-bus (28) to processing unit (22,24,26) control data (32) is provided to coordinate described processing unit (22,24,26)
It is characterized in that, at least two described processing units (22,24) alternately can also perform described coordination function as main device (22), wherein at least remaining another processing unit (24) can immediately as main device adapter coordination function for subsequent use under the failure condition of the main device of reality (22); At least one distributed sensor parts (38,40,42,48) are filming apparatus, optical sensor or weight sensor; As sensor data analysis result and determine position and the orientation of little workpiece on conveyer belt.
2. robot system as claimed in claim 1, it is characterized in that, the processing unit serving as actual main device (22) and serve as actual main device (24) for subsequent use at least one described in processing unit at least the output data (30) that described network-bus (28) provides and sensing data (34) can be stored in respective annex storage continuously.
3. robot system as claimed in claim 1 or 2, it is characterized in that, at least one of described processing unit (22,24,26) can analyze described sensing data (34).
4., for controlling a method for the robot system as described in any one in claims 1 to 3, comprise the following steps
-data (30) will be exported be supplied to described network-bus (28) continuously from described processing unit (22,24,26), wherein at least comprise and subsidiary machinery people (12,14,16,18) and/or processing unit (22,24,26) information that real work load state is relevant and/or which little workpiece (20) are by described subsidiary machinery people (12,14,16,18) information of picking up
-by sensing data (34) from described distributed sensor parts (38,40,42,48) described network-bus (28) is supplied to continuously, wherein at least comprise and treat by robot (12,14,16,18) information that the position of the little workpiece (20) picked up from described conveyer belt (46) is relevant
-data (30) will be exported at least partly and sensing data (34) is continually stored in the annex storage of the processing unit serving as main device (22) and is stored in the memory of at least one processing unit serving as main device (24) for subsequent use
-by processing unit analysis part output data (30) and the sensing data (34) at least continuously serving as main device (22),
-determine control data (32) continuously, based on this for controlling described robot (12,14,16,18), described robot (12,14 is wherein at least comprised, 16,18) information of which little workpiece (20) must be picked up
-via described network-bus (28), described control data (32) is supplied to described processing unit (22 continuously, 24,26), wherein said control data (32) be exclusively used in described processing unit (22,24 at least partially, 26) and correspondingly relative robot (12,14,16,18), the processing unit serving as main device (22) is made to perform coordination function with this
-the control data (32) that provided according to the processing unit serving as main device (22) by described robot (12,14,16,18) from described conveyer belt (46) the little workpiece of pickup (20) continuously,
The functional of the processing unit of main device (22) is served as in-continuous review, and in case of a fault, initiates controlling functions to be transferred to immediately the processing unit serving as main device (24) for subsequent use.
5. as claimed in claim 4 for the method for control machine robot system, it is characterized in that, described sensing data (34) and/or export and provide timestamp at least partially in data (30).
6. the method for control machine robot system as described in claim 4 or 5, is characterized in that, has the robot (12 of lowest workload, 14,16,18) processing unit (22,24,26) main device (22) is also served as.
7. the method for control machine robot system as described in claim 4 or 5, is characterized in that, comprises dynamic load balancing by the determination of processing unit to described output data (30) of serving as main device (22).
8. the method for control machine robot system as described in claim 4 or 5, it is characterized in that, carrying out artificial affecting by serving as the processing unit of main device (22) to the determination of described control data (32) by the manual input device of attached processing unit (22).
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2009/004576 WO2010149185A1 (en) | 2009-06-25 | 2009-06-25 | Robot system and belonging control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102648074A CN102648074A (en) | 2012-08-22 |
| CN102648074B true CN102648074B (en) | 2015-11-25 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200980161125.XA Expired - Fee Related CN102648074B (en) | 2009-06-25 | 2009-06-25 | Robot system and attached control method |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP2445685A1 (en) |
| CN (1) | CN102648074B (en) |
| WO (1) | WO2010149185A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2982960B1 (en) * | 2011-11-22 | 2014-06-27 | Schneider Electric Usa Inc | DYNAMIC ADAPTATION TO CHANGES IN CONTROL SYSTEM TOPOLOGY |
| EP2811350A1 (en) * | 2013-06-05 | 2014-12-10 | Siemens Aktiengesellschaft | Controlling distributed subsea units |
| US9259844B2 (en) | 2014-02-12 | 2016-02-16 | General Electric Company | Vision-guided electromagnetic robotic system |
| JP6392581B2 (en) | 2014-08-20 | 2018-09-19 | ファナック株式会社 | Robot control device and processing system for robots used with machine tools |
| CN105807734B (en) * | 2014-12-30 | 2018-11-20 | 中国科学院深圳先进技术研究院 | A kind of control method and multi-robot system of multi-robot system |
| JP6333870B2 (en) | 2016-01-28 | 2018-05-30 | ファナック株式会社 | System with multiple machines and at least one sensor |
| CN109132460A (en) * | 2018-07-11 | 2019-01-04 | 芜湖隆深机器人有限公司 | A kind of robot is from movable pendulum intestines production line |
| GB2595216A (en) * | 2020-05-15 | 2021-11-24 | Nchain Holdings Ltd | Multi-layer communication network |
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|---|---|---|---|---|
| US5252899A (en) * | 1988-03-09 | 1993-10-12 | Fanuc Ltd | Numerical control system |
| US6807461B2 (en) * | 2002-05-22 | 2004-10-19 | Kuka Roboter Gmbh | Coordinated robot control from multiple remote instruction sources |
| CN1903522A (en) * | 2005-07-26 | 2007-01-31 | 发那科株式会社 | Tracking and conveying device |
| US7684876B2 (en) * | 2007-02-27 | 2010-03-23 | Rockwell Automation Technologies, Inc. | Dynamic load balancing using virtual controller instances |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3780732B2 (en) * | 1999-03-10 | 2006-05-31 | 株式会社日立製作所 | Distributed control system |
| EP1304193A3 (en) * | 2001-10-10 | 2004-12-01 | imt robot AG | Method for automatically putting objects on a carrier |
| JP2006013448A (en) * | 2004-05-21 | 2006-01-12 | Matsushita Electric Ind Co Ltd | Line balance control method, line balance controller, and component mounting unit |
-
2009
- 2009-06-25 WO PCT/EP2009/004576 patent/WO2010149185A1/en active Application Filing
- 2009-06-25 CN CN200980161125.XA patent/CN102648074B/en not_active Expired - Fee Related
- 2009-06-25 EP EP09776833A patent/EP2445685A1/en not_active Ceased
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5252899A (en) * | 1988-03-09 | 1993-10-12 | Fanuc Ltd | Numerical control system |
| US6807461B2 (en) * | 2002-05-22 | 2004-10-19 | Kuka Roboter Gmbh | Coordinated robot control from multiple remote instruction sources |
| CN1903522A (en) * | 2005-07-26 | 2007-01-31 | 发那科株式会社 | Tracking and conveying device |
| US7684876B2 (en) * | 2007-02-27 | 2010-03-23 | Rockwell Automation Technologies, Inc. | Dynamic load balancing using virtual controller instances |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102648074A (en) | 2012-08-22 |
| EP2445685A1 (en) | 2012-05-02 |
| WO2010149185A1 (en) | 2010-12-29 |
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