CN102939188B - 用于对工业机械手的运动或流程进行编程或预设的方法 - Google Patents

用于对工业机械手的运动或流程进行编程或预设的方法 Download PDF

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Publication number
CN102939188B
CN102939188B CN201180028054.3A CN201180028054A CN102939188B CN 102939188 B CN102939188 B CN 102939188B CN 201180028054 A CN201180028054 A CN 201180028054A CN 102939188 B CN102939188 B CN 102939188B
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China
Prior art keywords
movement
motion
limit value
industrial robot
operator
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CN201180028054.3A
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English (en)
Chinese (zh)
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CN102939188A (zh
Inventor
C·米特迈尔
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Keba AG
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Keba AG
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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
    • 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
    • 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
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35422—Unit freely movable in space, detect its position, orientation by triangulation
    • 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
    • G05B2219/36451—Handheld toollike probe, work instructor, lightweigted, connected to recorder
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37388—Acceleration or deceleration, inertial measurement
    • 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
    • G05B2219/39443—Portable, adapted to handpalm, with joystick, function keys, display
    • 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
    • G05B2219/40214—Command rejection module

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN201180028054.3A 2010-06-08 2011-06-08 用于对工业机械手的运动或流程进行编程或预设的方法 Active CN102939188B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ATA937/2010 2010-06-08
ATA937/2010A AT509927B1 (de) 2010-06-08 2010-06-08 Verfahren zum programmieren oder vorgeben von bewegungen oder abläufen eines industrieroboters
PCT/AT2011/000255 WO2011153569A1 (de) 2010-06-08 2011-06-08 Verfahren zum programmieren oder vorgeben von bewegungen oder abläufen eines industrieroboters

Publications (2)

Publication Number Publication Date
CN102939188A CN102939188A (zh) 2013-02-20
CN102939188B true CN102939188B (zh) 2016-05-11

Family

ID=44512450

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CN201180028054.3A Active CN102939188B (zh) 2010-06-08 2011-06-08 用于对工业机械手的运动或流程进行编程或预设的方法

Country Status (6)

Country Link
EP (1) EP2580027B1 (enExample)
JP (1) JP5894150B2 (enExample)
CN (1) CN102939188B (enExample)
AT (2) AT509927B1 (enExample)
DE (1) DE112011101930B4 (enExample)
WO (2) WO2011153570A1 (enExample)

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DE102012103031A1 (de) * 2012-04-05 2013-10-10 Reis Group Holding Gmbh & Co. Kg Verfahren zur Bedienung eines Industrieroboters
DE102012010721A1 (de) * 2012-05-30 2013-12-05 Robert Bosch Gmbh Maschinensteuervorrichtung und -steuerverfahren zur Steuern einer Bewegung einer Maschine sowie Bedienteilsteuereinrichtung für tragbares Bedienteil
DE102014200066A1 (de) * 2014-01-07 2015-07-09 Spinner Werkzeugmaschinenfabrik Gmbh Bediengerät für eine Werkzeugmaschine mit lageabhängiger Zuordnung von Bedienbefehlen zu einzelnen Bewegungsachsen der Werkzeugmaschine
DE102014001168B4 (de) * 2014-01-31 2019-03-14 Abb Schweiz Ag Robotersteuerung
CN104227716B (zh) * 2014-07-25 2016-02-24 太仓中科信息技术研究院 一种基于遥操作的摄像机器人实时控制方法
US9592608B1 (en) 2014-12-15 2017-03-14 X Development Llc Methods and systems for providing feedback during teach mode
CN105983966B (zh) * 2015-02-13 2020-06-12 达明机器人股份有限公司 机器手臂的控制装置及方法
WO2016162066A1 (en) * 2015-04-09 2016-10-13 Abb Technology Ltd An industrial robot and a method for lead-through programming of an industrial robot
CN107645979B (zh) * 2015-06-01 2022-02-11 Abb瑞士股份有限公司 用于使机器人手臂的运动同步的机器人系统
DE102015008023A1 (de) * 2015-06-23 2016-12-29 Kuka Roboter Gmbh Steuern einer Maschine, insbesondere eines Roboters, mittels eines tragbaren Handgeräts
DE202015009616U1 (de) 2015-08-14 2018-08-30 Franka Emika Gmbh Robotersystem und Gehäuseteil für ein solches Robotersystem
DE102015012959B4 (de) 2015-10-08 2019-01-17 Franka Emika Gmbh Robotersystem und Verfahren zur Steuerung eines Robotersystems
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DE102016004787B4 (de) 2016-04-20 2023-02-02 Franka Emika Gmbh Antriebsvorrichtung für einen Roboter und Verfahren zu ihrer Herstellung
EP3478460B1 (en) 2016-06-29 2020-11-04 ABB Schweiz AG An industrial robot system comprising a dual arm robot
US10427305B2 (en) * 2016-07-21 2019-10-01 Autodesk, Inc. Robotic camera control via motion capture
AT519161B1 (de) * 2016-09-01 2019-11-15 Keba Ag Verfahren zum Betreiben eines industriellen Steuerungssystems sowie entsprechendes Steuerungssystem
WO2018173950A1 (ja) * 2017-03-21 2018-09-27 Idec株式会社 イネーブルスイッチおよび操作部
CN106926243B (zh) * 2017-04-19 2019-05-07 广州视源电子科技股份有限公司 机器人示教运动控制方法和系统
DE102017004711B4 (de) * 2017-05-16 2019-02-21 Kuka Deutschland Gmbh Robotersteuerung
DE102017213658A1 (de) * 2017-08-07 2019-02-07 Robert Bosch Gmbh Handhabungsanordnung mit einer Handhabungseinrichtung zur Durchführung mindestens eines Arbeitsschritts sowie Verfahren und Computerprogramm
TWI718338B (zh) * 2017-09-11 2021-02-11 光寶科技股份有限公司 照明裝置的安裝方法以及機械手臂
JP6606145B2 (ja) 2017-09-25 2019-11-13 ファナック株式会社 ロボットシステム
CN108015746A (zh) * 2017-12-01 2018-05-11 王冬冬 工业机械手传动机构
AT521871B1 (de) * 2018-10-31 2021-10-15 Keba Ag Verfahren zum Betreiben eines Maschinensteuerungssystems sowie Maschinensteuerungssystem
JP6923581B2 (ja) * 2019-03-07 2021-08-18 ファナック株式会社 産業用ロボットの制御システム
JP2020157467A (ja) * 2019-03-22 2020-10-01 川崎重工業株式会社 ロボットシステム
EP3943256A4 (en) 2019-03-22 2022-11-30 Kawasaki Jukogyo Kabushiki Kaisha ROBOT SYSTEM
CN110039547B (zh) * 2019-05-27 2021-08-10 清华大学深圳研究生院 一种柔性机械臂遥操作的人机交互终端及方法
EP3753684B1 (en) * 2019-06-21 2022-08-10 Robert Bosch GmbH Method and system for robot manipulation planning
DE102019118917B4 (de) * 2019-07-12 2023-11-30 Hans Weber Maschinenfabrik Gmbh Verfahren zur Steuerung des Betriebs einer Umsetzeinrichtung, Umsetzeinrichtung zum automatisierbaren oder automatisierten Umsetzen eines Werkstücks und Fertigungseinrichtung, umfassend eine entsprechende Umsetzeinrichtung
JP2022141177A (ja) * 2021-03-15 2022-09-29 オムロン株式会社 ウェアラブル機器
CN114473323B (zh) * 2022-02-21 2023-04-28 哈尔滨工业大学（深圳） 一种多机械臂力位耦合协同控制方法和焊接方法

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Also Published As

Publication number Publication date
JP2013528121A (ja) 2013-07-08
CN102939188A (zh) 2013-02-20
DE112011101930A5 (de) 2013-07-11
WO2011153570A1 (de) 2011-12-15
EP2580027A1 (de) 2013-04-17
AT12207U2 (de) 2012-01-15
AT12207U3 (de) 2013-06-15
AT509927A2 (de) 2011-12-15
WO2011153569A1 (de) 2011-12-15
AT509927A3 (de) 2014-12-15
EP2580027B1 (de) 2014-04-09
AT509927B1 (de) 2015-05-15
JP5894150B2 (ja) 2016-03-23
DE112011101930B4 (de) 2020-01-30

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