CN109070347A - 机器人系统的控制 - Google Patents

机器人系统的控制 Download PDF

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Publication number
CN109070347A
CN109070347A CN201780024624.9A CN201780024624A CN109070347A CN 109070347 A CN109070347 A CN 109070347A CN 201780024624 A CN201780024624 A CN 201780024624A CN 109070347 A CN109070347 A CN 109070347A
Authority
CN
China
Prior art keywords
erlaubt
state
robo
zse
total
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
CN201780024624.9A
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English (en)
Chinese (zh)
Inventor
萨米·哈达丁
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.)
Franka Emika GmbH
Original Assignee
Franka Emika GmbH
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=58640572&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=CN109070347(A) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Franka Emika GmbH filed Critical Franka Emika GmbH
Publication of CN109070347A publication Critical patent/CN109070347A/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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • G05B2219/40311—Real time simulation

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN201780024624.9A 2016-04-24 2017-04-21 机器人系统的控制 Pending CN109070347A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102016004836.0A DE102016004836B3 (de) 2016-04-24 2016-04-24 Steuerung eines Robotersystems
DE102016004836.0 2016-04-24
PCT/EP2017/059558 WO2017186596A1 (de) 2016-04-24 2017-04-21 Steuerung eines robotersystems

Publications (1)

Publication Number Publication Date
CN109070347A true CN109070347A (zh) 2018-12-21

Family

ID=58640572

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780024624.9A Pending CN109070347A (zh) 2016-04-24 2017-04-21 机器人系统的控制

Country Status (8)

Country Link
US (1) US11396098B2 (https=)
EP (1) EP3448633A1 (https=)
JP (1) JP2019514707A (https=)
KR (1) KR102150886B1 (https=)
CN (1) CN109070347A (https=)
DE (1) DE102016004836B3 (https=)
SG (1) SG11201808689PA (https=)
WO (1) WO2017186596A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113070906A (zh) * 2021-04-07 2021-07-06 北京云迹科技有限公司 服务机器人系统及其网络故障的诊断方法和诊断装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0889383A1 (en) * 1996-11-26 1999-01-07 Fanuc Ltd. Robot control device having operation route simulation function
JP2001100805A (ja) * 1999-09-27 2001-04-13 Matsushita Electric Ind Co Ltd ロボット制御装置
JP2010142944A (ja) * 2008-12-22 2010-07-01 Korea Electronics Telecommun ネットワーク基盤ロボット制御のためのロボットクライアント管理システムおよびその方法
US20110071679A1 (en) * 2009-09-22 2011-03-24 Gm Global Technology Operations,Inc. Embedded diagnostic, prognostic, and health management system and method for a humanoid robot
EP2671691A2 (de) * 2012-06-05 2013-12-11 KUKA Roboter GmbH Verfahren und Vorrichtung zum Steuern einer Manipulatoranordnung
CN104969134A (zh) * 2013-02-06 2015-10-07 三菱电机株式会社 干涉检查装置

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58177294A (ja) 1982-04-02 1983-10-17 オムロン株式会社 ロボツトの非常停止装置
JPS61123906A (ja) 1984-11-20 1986-06-11 Nissan Motor Co Ltd ロボツトの干渉防止処理システム
JPS63256384A (ja) 1987-04-13 1988-10-24 富士通株式会社 複腕協調ロボツト作業システムにおける干渉チエツク方式
JP2667710B2 (ja) 1989-06-01 1997-10-27 三菱電機株式会社 産業用ロボットの安全装置
JP3811072B2 (ja) 2002-01-18 2006-08-16 本田技研工業株式会社 移動ロボットの異常検知装置
US6678582B2 (en) 2002-05-30 2004-01-13 Kuka Roboter Gmbh Method and control device for avoiding collisions between cooperating robots
JP2007233817A (ja) 2006-03-02 2007-09-13 Yaskawa Electric Corp 教示装置、コントローラ、自動機械システム、およびその無線通信方法
JP2009217713A (ja) 2008-03-12 2009-09-24 Daihen Corp ロボット制御システム
JP5704883B2 (ja) 2010-10-20 2015-04-22 多摩川精機株式会社 産業用ロボットの速度位置解析システム及び産業用ロボットの速度位置検出装置
JP5447451B2 (ja) * 2011-08-08 2014-03-19 株式会社安川電機 ロボット
JP5628953B2 (ja) 2013-03-29 2014-11-19 ファナック株式会社 ガススプリングを備えた多関節ロボット、及びガススプリングの内圧を推定する方法
JP2017076334A (ja) * 2015-10-16 2017-04-20 株式会社日立製作所 管理サーバ及び管理システム及び管理方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0889383A1 (en) * 1996-11-26 1999-01-07 Fanuc Ltd. Robot control device having operation route simulation function
JP2001100805A (ja) * 1999-09-27 2001-04-13 Matsushita Electric Ind Co Ltd ロボット制御装置
JP2010142944A (ja) * 2008-12-22 2010-07-01 Korea Electronics Telecommun ネットワーク基盤ロボット制御のためのロボットクライアント管理システムおよびその方法
US20110071679A1 (en) * 2009-09-22 2011-03-24 Gm Global Technology Operations,Inc. Embedded diagnostic, prognostic, and health management system and method for a humanoid robot
EP2671691A2 (de) * 2012-06-05 2013-12-11 KUKA Roboter GmbH Verfahren und Vorrichtung zum Steuern einer Manipulatoranordnung
CN104969134A (zh) * 2013-02-06 2015-10-07 三菱电机株式会社 干涉检查装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113070906A (zh) * 2021-04-07 2021-07-06 北京云迹科技有限公司 服务机器人系统及其网络故障的诊断方法和诊断装置
CN113070906B (zh) * 2021-04-07 2022-04-26 北京云迹科技股份有限公司 服务机器人系统及其网络故障的诊断方法和诊断装置

Also Published As

Publication number Publication date
SG11201808689PA (en) 2018-11-29
US20190134816A1 (en) 2019-05-09
JP2019514707A (ja) 2019-06-06
KR20190042495A (ko) 2019-04-24
EP3448633A1 (de) 2019-03-06
DE102016004836B3 (de) 2017-05-18
US11396098B2 (en) 2022-07-26
KR102150886B1 (ko) 2020-09-02
WO2017186596A1 (de) 2017-11-02

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