CN108027298A - 一种用于异常检测的方法和装置 - Google Patents

一种用于异常检测的方法和装置 Download PDF

Info

Publication number
CN108027298A
CN108027298A CN201580083250.9A CN201580083250A CN108027298A CN 108027298 A CN108027298 A CN 108027298A CN 201580083250 A CN201580083250 A CN 201580083250A CN 108027298 A CN108027298 A CN 108027298A
Authority
CN
China
Prior art keywords
value
mobile platform
kinematic parameter
estimated value
parallel 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.)
Pending
Application number
CN201580083250.9A
Other languages
English (en)
Inventor
胡涛
黄立明
卓越
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.)
Siemens Shenzhen Magnetic Resonance Ltd
Siemens AG
Original Assignee
Siemens Shenzhen Magnetic Resonance Ltd
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 Siemens Shenzhen Magnetic Resonance Ltd filed Critical Siemens Shenzhen Magnetic Resonance Ltd
Publication of CN108027298A publication Critical patent/CN108027298A/zh
Pending legal-status Critical Current

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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • 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
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/048—Monitoring; Safety
    • 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
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
    • G05B23/0245—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model based on a qualitative model, e.g. rule based; if-then decisions
    • 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
    • G05B2219/40235—Parallel robot, structure
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49278—Parallel link mechanism

Abstract

本发明涉及一种用于异常检测的方法和装置，其中，该方法包括：获取并联机器人的移动平台的运动参数的估算值，其中所述估算值是基于安装在所述移动平台上的传感器的感测信息计算的；以及，基于所述估算值和所述运动参数的指定值，判断所述并联机器人是否出现异常。利用该方法和装置，能够可靠地检测并联机器人的异常。

Description

PCT国内申请，说明书已公开。

Claims (18)

  1. PCT国内申请，权利要求书已公开。
CN201580083250.9A 2015-10-28 2015-10-28 一种用于异常检测的方法和装置 Pending CN108027298A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2015/093137 WO2017070872A1 (zh) 2015-10-28 2015-10-28 一种用于异常检测的方法和装置

Publications (1)

Publication Number Publication Date
CN108027298A true CN108027298A (zh) 2018-05-11

Family

ID=58629706

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580083250.9A Pending CN108027298A (zh) 2015-10-28 2015-10-28 一种用于异常检测的方法和装置

Country Status (4)

Country Link
US (1) US10974383B2 (zh)
EP (1) EP3372977A4 (zh)
CN (1) CN108027298A (zh)
WO (1) WO2017070872A1 (zh)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7117697B2 (ja) * 2019-03-08 2022-08-15 ファナック株式会社 ロボットのジョイントの異常検出装置及び異常検出方法
CN110787026B (zh) * 2019-11-11 2022-04-12 上海电气集团股份有限公司 一种基于多传感器信息的运动异常保护方法及康复设备
CN112388636B (zh) * 2020-11-06 2022-04-12 广州大学 DDPG多目标遗传自优化三轴delta机器平台与方法
CN113894797B (zh) * 2021-11-25 2023-05-02 乐聚(深圳)机器人技术有限公司 基于动态电流检测的机器人保护控制方法、装置、设备及存储介质

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2082851A1 (en) * 2008-05-16 2009-07-29 ABB Research Ltd. An industrial robot capable of supervising its environmental impact and a method thereof
CN102431036A (zh) * 2011-09-19 2012-05-02 中国矿业大学 混合驱动柔索并联机器人实时故障检测装置及方法
CN103604591A (zh) * 2013-11-14 2014-02-26 沈阳工业大学 一种轮式移动机器人故障检测方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3114579B2 (ja) * 1995-08-30 2000-12-04 松下電器産業株式会社 産業用ロボットおよびその制御装置
DE10304019A1 (de) * 2003-02-01 2004-11-04 Kuka Roboter Gmbh Verfahren zum Überwachen einer Maschine und derartige Maschine, insbesondere Roboter
JP4960038B2 (ja) * 2006-08-09 2012-06-27 オークマ株式会社 パラレルメカニズム機械の制御方法及び制御装置
JP2008097363A (ja) * 2006-10-12 2008-04-24 Okuma Corp 異常診断方法及びその装置
JP4291385B2 (ja) * 2007-09-27 2009-07-08 ファナック株式会社 ロボット手先部の速度に基づいてロボットを停止させるロボット制御装置
JP5408211B2 (ja) * 2011-09-06 2014-02-05 株式会社安川電機 パラレルリンクロボット、パラレルリンクロボットシステムおよびパラレルリンクロボットの制御方法
EP2705935A1 (en) * 2012-09-11 2014-03-12 Hexagon Technology Center GmbH Coordinate measuring machine
KR20160048492A (ko) * 2014-10-24 2016-05-04 엘지전자 주식회사 로봇 청소기 및 이의 제어 방법

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2082851A1 (en) * 2008-05-16 2009-07-29 ABB Research Ltd. An industrial robot capable of supervising its environmental impact and a method thereof
CN102431036A (zh) * 2011-09-19 2012-05-02 中国矿业大学 混合驱动柔索并联机器人实时故障检测装置及方法
CN103604591A (zh) * 2013-11-14 2014-02-26 沈阳工业大学 一种轮式移动机器人故障检测方法

Also Published As

Publication number Publication date
WO2017070872A1 (zh) 2017-05-04
US20180314244A1 (en) 2018-11-01
EP3372977A4 (en) 2019-09-11
EP3372977A1 (en) 2018-09-12
US10974383B2 (en) 2021-04-13

Similar Documents

Publication Publication Date Title
CN108027298A (zh) 一种用于异常检测的方法和装置
US20160121484A1 (en) Control device with function to check load information settings
US7742836B2 (en) Control unit
EP2783800B1 (en) Robot system and method for controlling robot system
KR101973709B1 (ko) 로봇 머니퓰레이터 제어 방법
US8707805B2 (en) Transfer apparatus and transfer method
US20140316572A1 (en) Control device for robot for conveying workpiece
US9676072B2 (en) Machining device with visual sensor for locating contaminants
US20190001504A1 (en) Method For Detecting A Collision Of A Robot Arm With An Object, And A Robot With A Robot Arm
JP6943332B2 (ja) 異常検出装置及び異常検出方法
KR20170103424A (ko) 협업로봇의 충돌을 감지하는 장치 및 방법
EP4049811A1 (en) Deterioration determination device, deterioration determination method, and control program
US11707842B2 (en) Robot system and coordinate conversion method
JPWO2019167171A6 (ja) 異常検出装置及び異常検出方法
US10114360B2 (en) Numerical controller
US10744651B2 (en) Mirror replacement device for a segmented mirror telescope and mirror replacement method thereof
JP2013144325A (ja) ロボット装置、故障検出方法
JP2019067102A (ja) 加工システム及び加工機の制御方法
NO20191244A1 (en) System and method for measuring and aligning roof bolts
KR102328571B1 (ko) 용접토치의 모션 측정 시스템
CN106931992B (zh) 用于检测物体翻滚的方法和装置
JP2020069614A (ja) ロボットシステム
CN109551517A (zh) 机器人系统
JP2020116706A (ja) ロボット制御装置および管理システム
US20200310429A1 (en) Determination method, determination device, and recording medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20180511

RJ01 Rejection of invention patent application after publication