CN102666030B - 用于减少工业机器人的能量消耗的方法和工业机器人系统 - Google Patents

用于减少工业机器人的能量消耗的方法和工业机器人系统 Download PDF

Info

Publication number
CN102666030B
CN102666030B CN201080045058.8A CN201080045058A CN102666030B CN 102666030 B CN102666030 B CN 102666030B CN 201080045058 A CN201080045058 A CN 201080045058A CN 102666030 B CN102666030 B CN 102666030B
Authority
CN
China
Prior art keywords
robot
energy
model
time
axle
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.)
Expired - Fee Related
Application number
CN201080045058.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN102666030A (zh
Inventor
M·布乔克曼
M·诺洛夫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Technology AG
Original Assignee
ABB T&D Technology AG
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 ABB T&D Technology AG filed Critical ABB T&D Technology AG
Publication of CN102666030A publication Critical patent/CN102666030A/zh
Application granted granted Critical
Publication of CN102666030B publication Critical patent/CN102666030B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • 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
    • 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
    • G05B2219/34314—Slow down, limit speed for energy saving
    • 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
    • G05B2219/39361—Minimize time-energy cost
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40498—Architecture, integration of planner and motion controller
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40507—Distributed planning, offline trajectory, online motion, avoid collision
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50181—After stopping apply additionally a brake
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P80/00—Climate change mitigation technologies for sector-wide applications
    • Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)
CN201080045058.8A 2009-10-06 2010-09-20 用于减少工业机器人的能量消耗的方法和工业机器人系统 Expired - Fee Related CN102666030B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
PCT/EP2009/062961 WO2011042049A1 (fr) 2009-10-06 2009-10-06 Procédé de réduction de la consommation d'énergie d'un robot industriel et système de robot industriel
EPPCT/EP2009/062961 2009-10-06
PCT/EP2010/063783 WO2011042293A1 (fr) 2009-10-06 2010-09-20 Procédé de diminution de la consommation énergétique d'un robot industriel et système robotique industriel

Publications (2)

Publication Number Publication Date
CN102666030A CN102666030A (zh) 2012-09-12
CN102666030B true CN102666030B (zh) 2015-03-25

Family

ID=42106087

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201080045058.8A Expired - Fee Related CN102666030B (zh) 2009-10-06 2010-09-20 用于减少工业机器人的能量消耗的方法和工业机器人系统

Country Status (2)

Country Link
CN (1) CN102666030B (fr)
WO (2) WO2011042049A1 (fr)

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011079117B4 (de) 2011-07-14 2022-09-29 Kuka Deutschland Gmbh Verfahren zum Programmieren eines Roboters
DE102011120037A1 (de) * 2011-12-02 2013-06-06 Kuka Roboter Gmbh Manipulatoranordnung und Verfahren zum Betreiben der Manipulatoranordnung
DE102012003479A1 (de) * 2012-02-21 2013-08-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Ausführen eines Manipulatorprozesses
US9649765B2 (en) 2013-03-11 2017-05-16 Siemens Aktiengesellschaft Reducing energy consumption of industrial robots by using new methods for motion path programming
DE102013010463A1 (de) 2013-06-24 2014-03-27 Daimler Ag Verfahren zum Auswählen von Robotervarianten
DE102013013847A1 (de) * 2013-08-20 2015-02-26 Kuka Roboter Gmbh Energieoptimales Konfigurieren eines Manipulators
DE102013216799A1 (de) * 2013-08-23 2015-02-26 Siemens Aktiengesellschaft Vorrichtung und Verfahren zum Betreiben eines technischen Systems sowie Verfahren zur Herstellung eines technischen Systems
DE102014202755A1 (de) 2014-02-14 2015-08-20 Carl Zeiss Smt Gmbh Verfahren zur Verlagerung mindestens eines optischen Bauelements
US9922144B2 (en) 2014-03-26 2018-03-20 Siemens Industry Software Ltd. Energy and cycle time efficiency based method for robot positioning
US9701011B2 (en) 2014-05-08 2017-07-11 Siemens Industry Software Ltd. Method for robotic energy saving tool search
US9298863B2 (en) 2014-07-31 2016-03-29 Siemens Industry Software Ltd. Method and apparatus for saving energy and reducing cycle time by using optimal robotic joint configurations
US9815201B2 (en) 2014-07-31 2017-11-14 Siemens Industry Software Limited Method and apparatus for industrial robotic energy saving optimization using fly-by
US9469029B2 (en) 2014-07-31 2016-10-18 Siemens Industry Software Ltd. Method and apparatus for saving energy and reducing cycle time by optimal ordering of the industrial robotic path
US9457469B2 (en) 2014-08-14 2016-10-04 Siemens Industry Software Ltd. Method and apparatus for automatic and efficient location generation for cooperative motion
CN104749956A (zh) * 2015-03-24 2015-07-01 北京理工大学 基于和声搜索算法的工业机器人结构优化方法
JP2017102674A (ja) * 2015-12-01 2017-06-08 オムロン株式会社 軌跡生成装置、軌跡生成装置の制御方法、制御プログラム、および記録媒体
JP2018060289A (ja) * 2016-10-03 2018-04-12 オムロン株式会社 軌跡生成装置、軌跡生成装置の制御方法、制御プログラム、および記録媒体
US10556344B2 (en) * 2016-12-27 2020-02-11 Siemens Industry Software Ltd. Method and system for determining a sequence of kinematic chains of a multiple robot
GB2559357B (en) * 2017-02-01 2021-02-24 Jaguar Land Rover Ltd Control of machine movement
CN108237535A (zh) * 2018-02-02 2018-07-03 广东工业大学 一种机械臂及其控制系统与方法
US20200160210A1 (en) * 2018-11-20 2020-05-21 Siemens Industry Software Ltd. Method and system for predicting a motion trajectory of a robot moving between a given pair of robotic locations
CN110421564A (zh) * 2019-08-06 2019-11-08 浙江大学 一种基于关节能耗评估的机器人工作单元布局优化方法
CN110666795B (zh) * 2019-09-29 2021-03-12 珠海格力智能装备有限公司 机器人的控制方法及装置、存储介质、处理器
DE102019128583B4 (de) * 2019-10-23 2022-03-10 Franka Emika Gmbh Optimierungsmodi für Steuerprogramme eines Robotermanipulators
CN113021334B (zh) * 2019-12-25 2022-09-30 广东省智能制造研究所 一种能量最优的机器人控制方法
CN111546379B (zh) * 2020-04-26 2021-07-13 西安交通大学 一种工业机器人运行状态监测的传感器布局方法
CN112231919A (zh) * 2020-10-20 2021-01-15 山东大学 一种机器人执行任务过程中的能量消耗预测方法及系统
EP4313503A1 (fr) * 2021-03-30 2024-02-07 ABB Schweiz AG Procédé pour commander le déplacement d'un robot
CN115107035B (zh) * 2022-07-26 2023-01-06 珞石（北京）科技有限公司 一种机器人单关节人工免疫系统监控的混合控制方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6408224B1 (en) * 1999-11-10 2002-06-18 National Aerospace Laboratory Of Science Technology Agency Rotary articulated robot and method of control thereof
EP1705541A2 (fr) * 2005-03-23 2006-09-27 Kawasaki Jukogyo Kabushiki Kaisha Contrôleur de robot et procédé de contrôle de robot
CN101443163A (zh) * 2006-05-16 2009-05-27 Abb公司 用于工业机器人的控制系统

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE0100974D0 (sv) * 2001-03-20 2001-03-20 Abb Ab Termisk optimeringsmetod
DE102004056861A1 (de) * 2004-11-25 2006-06-08 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Regeln, Steuern von Manipulatoren
JP4936288B2 (ja) * 2007-12-10 2012-05-23 本田技研工業株式会社 目標経路生成システム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6408224B1 (en) * 1999-11-10 2002-06-18 National Aerospace Laboratory Of Science Technology Agency Rotary articulated robot and method of control thereof
EP1705541A2 (fr) * 2005-03-23 2006-09-27 Kawasaki Jukogyo Kabushiki Kaisha Contrôleur de robot et procédé de contrôle de robot
CN101443163A (zh) * 2006-05-16 2009-05-27 Abb公司 用于工业机器人的控制系统

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Trajectory generation for redundant manipulators under optimization of consumed electical energy;A.R.HIRAKAWA ET AL;《1996IEEE应用会议的会议纪录 》;19961006;第3卷;第1626-1632页 *

Also Published As

Publication number Publication date
WO2011042049A1 (fr) 2011-04-14
CN102666030A (zh) 2012-09-12
WO2011042293A1 (fr) 2011-04-14

Similar Documents

Publication Publication Date Title
CN102666030B (zh) 用于减少工业机器人的能量消耗的方法和工业机器人系统
EP2485875B1 (fr) Procédé de diminution de la consommation énergétique d'un robot industriel et système robotique industriel
Bilal et al. Jerk-bounded trajectory planning for rotary flexible joint manipulator: an experimental approach
Kröger et al. Literature survey: Trajectory generation in and control of robotic systems
Vukobratovic et al. A method for optimal synthesis of manipulation robot trajectories
JP5064524B2 (ja) 予測不可能で動的な複雑な環境において計画することを伴う自律型ロボット
Halevi et al. Minimum energy control of redundant actuation machine tools
Berselli et al. Energy-optimal motions for Servo-Systems: A comparison of spline interpolants and performance indexes using a CAD-based approach
Pastras et al. A theoretical investigation on the potential energy savings by optimization of the robotic motion profiles
Tan et al. Minimum time trajectory planner for the discrete dynamic robot model with dynamic constraints
US11141861B2 (en) Method for operating a robot and robotic arm
Van Duijkeren et al. Path-following NMPC for serial-link robot manipulators using a path-parametric system reformulation
Kelly et al. Manipulator motion control in operational space using joint velocity inner loops
Carabin et al. Energy expenditure minimization for a delta-2 robot through a mixed approach
Hansen et al. Path planning approach for the amplification of electrical energy exchange in multi axis robotic systems
Chuy et al. Sampling-based direct trajectory generation using the minimum time cost function
Shiller et al. Trajectory preshaping for high-speed articulated systems
JP2021070155A (ja) モデル予測における相互作用制御
CN113103262A (zh) 机器人控制装置和用于控制机器人的方法
Fenucci et al. An off-line robot motion planning approach for the reduction of the energy consumption
JPH0683427A (ja) 柔軟マニピュレータの作業点位置制御システム
Xi Event-based motion planning and control for robotic systems
De Schutter et al. Unified constraint-based task specification for complex sensor-based robot systems
Hansen et al. Optimal motion planning for energy efficient multi-axis applications
Poignet et al. Modeling, simulation and control of high speed machine tools using robotics formalism

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150325

Termination date: 20160920