CN110494260B - 用于控制协作机器人的装置和方法 - Google Patents
用于控制协作机器人的装置和方法 Download PDFInfo
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- CN110494260B CN110494260B CN201780088838.2A CN201780088838A CN110494260B CN 110494260 B CN110494260 B CN 110494260B CN 201780088838 A CN201780088838 A CN 201780088838A CN 110494260 B CN110494260 B CN 110494260B
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- collision
- cooperative robot
- robot
- torque
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- 238000000034 method Methods 0.000 title claims description 9
- 238000001514 detection method Methods 0.000 claims abstract description 35
- 230000001133 acceleration Effects 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
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- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
-
- 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
- B25J9/1666—Avoiding collision or forbidden zones
-
- 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
- B25J9/1694—Programme 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39082—Collision, real time collision avoidance
-
- 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
- G05B2219/39089—On collision, lead arm around obstacle manually
-
- 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
- G05B2219/39237—Torque disturbance control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (14)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2017-0116665 | 2017-09-12 | ||
KR1020170116665A KR102370879B1 (ko) | 2017-09-12 | 2017-09-12 | 협동로봇제어장치 및 협동로봇을 제어하는 방법 |
PCT/KR2017/012466 WO2019054558A1 (ko) | 2017-09-12 | 2017-11-06 | 협동로봇제어장치 및 협동로봇을 제어하는 방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110494260A CN110494260A (zh) | 2019-11-22 |
CN110494260B true CN110494260B (zh) | 2023-05-02 |
Family
ID=65723699
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201780088838.2A Active CN110494260B (zh) | 2017-09-12 | 2017-11-06 | 用于控制协作机器人的装置和方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11534918B2 (zh) |
EP (1) | EP3683022A4 (zh) |
KR (1) | KR102370879B1 (zh) |
CN (1) | CN110494260B (zh) |
WO (1) | WO2019054558A1 (zh) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102418451B1 (ko) * | 2017-12-27 | 2022-07-07 | 주식회사 한화 | 로봇 제어 시스템 |
KR102356660B1 (ko) * | 2019-11-01 | 2022-02-07 | 주식회사 뉴로메카 | 다자유도 협동 로봇의 마찰 보상 방법 |
CN111113487B (zh) * | 2019-12-25 | 2021-08-27 | 深圳市优必选科技股份有限公司 | 一种机器人及其碰撞检测装置 |
TWI764377B (zh) * | 2020-11-16 | 2022-05-11 | 達明機器人股份有限公司 | 機器人安全補償重量的系統及方法 |
CN112549024B (zh) * | 2020-11-26 | 2022-05-24 | 华南理工大学 | 基于时间序列分析的机器人免传感碰撞检测方法及应用 |
KR102521151B1 (ko) | 2021-05-26 | 2023-04-13 | 주식회사 뉴로메카 | 충돌감지 기능을 갖는 협동로봇 및 협동로봇의 충돌감지 방법 |
CN113352331B (zh) * | 2021-08-11 | 2022-04-22 | 苏州艾利特机器人有限公司 | 一种机器人与外部对象力协作的方法及协作机器人 |
KR20230136435A (ko) | 2022-03-18 | 2023-09-26 | 호남대학교 산학협력단 | 영상 기반 로봇 제어 시스템 |
CN114872041A (zh) * | 2022-04-21 | 2022-08-09 | 上海发那科机器人有限公司 | 基于力觉传感器的协作机器人控制方法及协作机器人 |
CN114851189A (zh) * | 2022-04-21 | 2022-08-05 | 上海发那科机器人有限公司 | 一种协作机器人的控制方法及协作机器人 |
CN115389077B (zh) * | 2022-08-26 | 2024-04-12 | 法奥意威(苏州)机器人系统有限公司 | 碰撞检测方法、装置、控制设备及可读存储介质 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005100143A (ja) * | 2003-09-25 | 2005-04-14 | Kobe Steel Ltd | モータ駆動装置の制御方法及び制御装置 |
CN1771114A (zh) * | 2003-07-29 | 2006-05-10 | 松下电器产业株式会社 | 控制机械手的方法和设备 |
JP2016194761A (ja) * | 2015-03-31 | 2016-11-17 | 日本電産サンキョー株式会社 | サーボモータ制御装置及び衝突検出方法 |
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JP2506214B2 (ja) * | 1990-01-17 | 1996-06-12 | オークマ株式会社 | 数値制御工作機械の衝突検出装置 |
JPH06332538A (ja) * | 1993-05-19 | 1994-12-02 | Fanuc Ltd | 柔軟なサーボ制御方法 |
JP3212571B2 (ja) * | 1999-03-26 | 2001-09-25 | ファナック株式会社 | 産業用ロボット |
JP2007249524A (ja) * | 2006-03-15 | 2007-09-27 | Daihen Corp | ロボット制御装置 |
WO2008004487A1 (fr) | 2006-07-04 | 2008-01-10 | Panasonic Corporation | Appareil et procédé de commande de bras robotisé, robot et programme de commande de bras robotisé |
JP4550849B2 (ja) * | 2007-03-22 | 2010-09-22 | 株式会社東芝 | アーム搭載移動ロボット |
WO2009093451A1 (ja) | 2008-01-22 | 2009-07-30 | Panasonic Corporation | ロボットアーム |
KR101214685B1 (ko) * | 2011-03-23 | 2013-01-09 | 고려대학교 산학협력단 | 주파수 기반 로봇 머니퓰레이터 제어 방법 |
US9452020B2 (en) * | 2012-08-15 | 2016-09-27 | Intuitive Surgical Operations, Inc. | User initiated break-away clutching of a surgical mounting platform |
KR101329853B1 (ko) | 2012-11-14 | 2013-11-14 | 고려대학교 산학협력단 | 머니퓰레이터 충돌 감지 장치와 이를 이용한 머니퓰레이터 제어 장치 및 제어 방법 |
KR101487624B1 (ko) * | 2013-11-01 | 2015-01-29 | 고려대학교 산학협력단 | 로봇 머니퓰레이터 제어 방법 |
KR20150080050A (ko) * | 2013-12-30 | 2015-07-09 | 전자부품연구원 | 다관절로봇의 충돌 감지 장치 및 이를 이용한 충돌 감지 방법 |
JP5937706B1 (ja) * | 2015-01-21 | 2016-06-22 | ファナック株式会社 | ロボットに加わる外力に基づいてロボットを制御するロボット制御装置、およびロボットシステム |
CN104985598B (zh) * | 2015-06-24 | 2016-11-23 | 南京埃斯顿机器人工程有限公司 | 一种工业机器人碰撞检测方法 |
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US9917903B2 (en) * | 2015-12-28 | 2018-03-13 | Verizon Patent And Licensing Inc. | Internet of things provisioning |
CN107717982B (zh) * | 2016-08-12 | 2020-09-25 | 财团法人工业技术研究院 | 机械手臂的控制装置及操作方法 |
JP7427358B2 (ja) * | 2017-07-20 | 2024-02-05 | キヤノン株式会社 | ロボットシステム、物品の製造方法、制御方法、制御プログラム、および記録媒体 |
-
2017
- 2017-09-12 KR KR1020170116665A patent/KR102370879B1/ko active IP Right Grant
- 2017-11-06 EP EP17925046.9A patent/EP3683022A4/en active Pending
- 2017-11-06 CN CN201780088838.2A patent/CN110494260B/zh active Active
- 2017-11-06 US US16/643,680 patent/US11534918B2/en active Active
- 2017-11-06 WO PCT/KR2017/012466 patent/WO2019054558A1/ko unknown
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1771114A (zh) * | 2003-07-29 | 2006-05-10 | 松下电器产业株式会社 | 控制机械手的方法和设备 |
JP2005100143A (ja) * | 2003-09-25 | 2005-04-14 | Kobe Steel Ltd | モータ駆動装置の制御方法及び制御装置 |
JP2016194761A (ja) * | 2015-03-31 | 2016-11-17 | 日本電産サンキョー株式会社 | サーボモータ制御装置及び衝突検出方法 |
Also Published As
Publication number | Publication date |
---|---|
US20200269423A1 (en) | 2020-08-27 |
EP3683022A1 (en) | 2020-07-22 |
CN110494260A (zh) | 2019-11-22 |
EP3683022A4 (en) | 2021-06-16 |
WO2019054558A1 (ko) | 2019-03-21 |
US11534918B2 (en) | 2022-12-27 |
KR20190029286A (ko) | 2019-03-20 |
KR102370879B1 (ko) | 2022-03-07 |
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Effective date of registration: 20210118 Address after: Han Guoshouershi Applicant after: Hanwha Corp. Address before: Gyeongnam Changwon City, South Korea Applicant before: Hanwha Precision Machinery Co.,Ltd. |
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