CN110267772A - 协作机器人 - Google Patents
协作机器人 Download PDFInfo
- Publication number
- CN110267772A CN110267772A CN201780085959.1A CN201780085959A CN110267772A CN 110267772 A CN110267772 A CN 110267772A CN 201780085959 A CN201780085959 A CN 201780085959A CN 110267772 A CN110267772 A CN 110267772A
- Authority
- CN
- China
- Prior art keywords
- movement
- data
- track
- setting
- homework department
- 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.)
- Granted
Links
- 238000013500 data storage Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 12
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
-
- 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
-
- 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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- 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
-
- 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
- B25J9/1692—Calibration of manipulator
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (14)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2016-0168003 | 2016-12-09 | ||
KR1020160168003A KR102630230B1 (ko) | 2016-12-09 | 2016-12-09 | 협업 로봇 |
PCT/KR2017/001751 WO2018105814A1 (ko) | 2016-12-09 | 2017-02-17 | 협업 로봇 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110267772A true CN110267772A (zh) | 2019-09-20 |
CN110267772B CN110267772B (zh) | 2022-07-12 |
Family
ID=62491812
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201780085959.1A Active CN110267772B (zh) | 2016-12-09 | 2017-02-17 | 协作机器人 |
Country Status (3)
Country | Link |
---|---|
KR (1) | KR102630230B1 (zh) |
CN (1) | CN110267772B (zh) |
WO (1) | WO2018105814A1 (zh) |
Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4641251A (en) * | 1982-02-16 | 1987-02-03 | Inoue-Japax Research Incorporated | Robot |
CN1461693A (zh) * | 2002-05-30 | 2003-12-17 | 库卡-罗伯特有限公司 | 用于避免在协作机器人之间的碰撞的方法和控制装置 |
US20050171637A1 (en) * | 2004-01-30 | 2005-08-04 | Funai Electric Co., Ltd. | Self-running cleaner with collision obviation capability |
CN101390027A (zh) * | 2006-02-23 | 2009-03-18 | Abb公司 | 依靠从使用者接收的力和扭矩控制物体的位置及方位的系统 |
CN102203685A (zh) * | 2008-12-17 | 2011-09-28 | 库卡实验室有限公司 | 使机械手通过预定轨道的方法和实施该方法的控制装置 |
KR20130015818A (ko) * | 2011-08-05 | 2013-02-14 | 한국과학기술연구원 | 인간-로봇 협업 시스템 및 이를 기반으로 하는 부품 조립 방법 |
KR101307782B1 (ko) * | 2011-08-17 | 2013-09-26 | 한국과학기술연구원 | 로봇의 직접 교시 및 재생 방법 및 이를 구현하는 로봇 제어 장치 |
CN103894807A (zh) * | 2012-12-28 | 2014-07-02 | Abb技术有限公司 | 降低操作员潜在伤害的方法和装置 |
CN104007715A (zh) * | 2013-02-27 | 2014-08-27 | 洛克威尔自动控制技术股份有限公司 | 具有位置和导数决定参考的基于识别的工业自动化控制 |
CN104812535A (zh) * | 2012-10-11 | 2015-07-29 | Abb技术有限公司 | 自动产生用于将机器人从停止位置返回预设重启位置的无碰撞返回程序的方法和设备 |
CN104923886A (zh) * | 2014-03-18 | 2015-09-23 | 株式会社大亨 | 干扰回避装置 |
CN105252538A (zh) * | 2015-11-06 | 2016-01-20 | 邹海英 | 一种新型工业机器人示教器 |
US20160214261A1 (en) * | 2015-01-22 | 2016-07-28 | GM Global Technology Operations LLC | Collaborative robot system and method |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20100009690A (ko) * | 2008-07-21 | 2010-01-29 | 에스시스템(주) | 화재 다중 신호를 조합한 로직 프로그램이 내장된 화재감지 장치 및 이를 이용한 화재감지 판독 방법 |
KR20100096908A (ko) | 2009-02-25 | 2010-09-02 | 한국기계연구원 | 충돌감지가 가능한 직접교시용 로봇 및 충돌감지를 위한 방법 |
JP5593968B2 (ja) * | 2010-03-04 | 2014-09-24 | 株式会社デンソーウェーブ | ロボットシステム |
KR101263684B1 (ko) * | 2011-05-31 | 2013-05-21 | 대우조선해양 주식회사 | 어드미턴스 변환을 이용한 로봇 직접교시 장치 |
JP2016097467A (ja) * | 2014-11-20 | 2016-05-30 | キヤノン株式会社 | ロボット装置およびロボット装置の制御方法 |
-
2016
- 2016-12-09 KR KR1020160168003A patent/KR102630230B1/ko active IP Right Grant
-
2017
- 2017-02-17 WO PCT/KR2017/001751 patent/WO2018105814A1/ko active Application Filing
- 2017-02-17 CN CN201780085959.1A patent/CN110267772B/zh active Active
Patent Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4641251A (en) * | 1982-02-16 | 1987-02-03 | Inoue-Japax Research Incorporated | Robot |
CN1461693A (zh) * | 2002-05-30 | 2003-12-17 | 库卡-罗伯特有限公司 | 用于避免在协作机器人之间的碰撞的方法和控制装置 |
US20050171637A1 (en) * | 2004-01-30 | 2005-08-04 | Funai Electric Co., Ltd. | Self-running cleaner with collision obviation capability |
CN101390027A (zh) * | 2006-02-23 | 2009-03-18 | Abb公司 | 依靠从使用者接收的力和扭矩控制物体的位置及方位的系统 |
CN102203685A (zh) * | 2008-12-17 | 2011-09-28 | 库卡实验室有限公司 | 使机械手通过预定轨道的方法和实施该方法的控制装置 |
KR20130015818A (ko) * | 2011-08-05 | 2013-02-14 | 한국과학기술연구원 | 인간-로봇 협업 시스템 및 이를 기반으로 하는 부품 조립 방법 |
KR101307782B1 (ko) * | 2011-08-17 | 2013-09-26 | 한국과학기술연구원 | 로봇의 직접 교시 및 재생 방법 및 이를 구현하는 로봇 제어 장치 |
CN104812535A (zh) * | 2012-10-11 | 2015-07-29 | Abb技术有限公司 | 自动产生用于将机器人从停止位置返回预设重启位置的无碰撞返回程序的方法和设备 |
CN103894807A (zh) * | 2012-12-28 | 2014-07-02 | Abb技术有限公司 | 降低操作员潜在伤害的方法和装置 |
CN104007715A (zh) * | 2013-02-27 | 2014-08-27 | 洛克威尔自动控制技术股份有限公司 | 具有位置和导数决定参考的基于识别的工业自动化控制 |
CN104923886A (zh) * | 2014-03-18 | 2015-09-23 | 株式会社大亨 | 干扰回避装置 |
US20160214261A1 (en) * | 2015-01-22 | 2016-07-28 | GM Global Technology Operations LLC | Collaborative robot system and method |
CN105252538A (zh) * | 2015-11-06 | 2016-01-20 | 邹海英 | 一种新型工业机器人示教器 |
Also Published As
Publication number | Publication date |
---|---|
CN110267772B (zh) | 2022-07-12 |
KR20180066782A (ko) | 2018-06-19 |
KR102630230B1 (ko) | 2024-01-29 |
WO2018105814A1 (ko) | 2018-06-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110198813B (zh) | 机器人路径生成装置和机器人系统 | |
US10556353B2 (en) | Robot arm control device and robot arm operation method | |
CN106041926A (zh) | 一种基于卡尔曼滤波器的工业机械臂力/位置混合控制方法 | |
US9868254B2 (en) | Method and apparatus for three dimensional printing of colored objects | |
CA2408335C (en) | Method and system for controlling a machine tool with direct transfer of machining data | |
Abu-Dakka et al. | Solving peg-in-hole tasks by human demonstration and exception strategies | |
CN106113034B (zh) | 一种六自由度机械臂考虑力约束的轨迹规划方法 | |
CN107030702B (zh) | 一种机械臂的轨迹规划方法 | |
CN106335053A (zh) | 使物体和物体处于重合状态的机器人的机器人控制装置 | |
JP2011230239A (ja) | ワークの把持方法 | |
CN102239454A (zh) | 用于在机械手的控制装置中输入指令的方法和设备 | |
CN104937371A (zh) | 法线检测装置、加工装置及法线检测方法 | |
JP2016064474A (ja) | 人間協調ロボットシステム | |
Jacinto-Villegas et al. | A novel wearable haptic controller for teleoperating robotic platforms | |
CN111278610A (zh) | 用于运行可移动机器人的方法和系统 | |
CN104246081A (zh) | 挖土机的控制方法及控制装置 | |
CN105856225B (zh) | 用于运行多轴机器、特别是机器人的方法和系统 | |
CN108177162A (zh) | 移动机器人的干扰区域设定装置 | |
GB2587119A (en) | Model-based parameter estimation for directional drilling in wellbore operations | |
CH687278A5 (it) | Macchina utensile polifunzionale. | |
CN110267772A (zh) | 协作机器人 | |
CN112060078A (zh) | 机器人控制方法、装置、计算机可读存储介质及机器人 | |
US20090216375A1 (en) | Industrial Robot Tending A Machine And A Method For Controlling An Industrial Robot Tending A Machine | |
CN109129525A (zh) | 机器人的负载重心位置推定装置及负载重心位置推定方法 | |
Wisanuvej et al. | Blind collision detection and obstacle characterisation using a compliant robotic arm |
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 | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210113 Address after: Han Guoshouershi Applicant after: Hanwha Corp. Address before: Gyeongnam Changwon City, South Korea Applicant before: Hanwha Precision Machinery Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20231205 Address after: Gyeonggi Do city of South Korea Patentee after: Han Huajiqiren(zhu) Address before: Seoul City, Korea Patentee before: Hanwha Corp. |
|
TR01 | Transfer of patent right |