CN110914020B - 具有机器人的操纵装置以及方法和计算机程序 - Google Patents

具有机器人的操纵装置以及方法和计算机程序 Download PDF

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Publication number
CN110914020B
CN110914020B CN201880051203.XA CN201880051203A CN110914020B CN 110914020 B CN110914020 B CN 110914020B CN 201880051203 A CN201880051203 A CN 201880051203A CN 110914020 B CN110914020 B CN 110914020B
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China
Prior art keywords
trajectory
time
movement
robot
module
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CN201880051203.XA
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English (en)
Chinese (zh)
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CN110914020A (zh
Inventor
F.伯伊克
S.耶森
S.阿拉塔塞夫
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Robert Bosch GmbH
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Robert Bosch GmbH
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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
    • 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
    • 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
    • B25J19/0095—Means or methods for testing 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
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • G05B2219/39083—Robot interference, between two robot arms
    • 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
    • G05B2219/40371—Control trajectory to avoid joint limit as well as obstacle collision
    • 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
    • G05B2219/40463—Shortest distance in time, or metric, time optimal
    • 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
    • G05B2219/40476—Collision, planning for collision free 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40477—Plan path independent from obstacles, then correction for obstacles

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN201880051203.XA 2017-08-07 2018-06-13 具有机器人的操纵装置以及方法和计算机程序 Active CN110914020B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102017213651.0A DE102017213651A1 (de) 2017-08-07 2017-08-07 Handhabungseinrichtung mit einem Roboter sowie Verfahren und Computerprogramm
DE102017213651.0 2017-08-07
PCT/EP2018/065689 WO2019029870A1 (de) 2017-08-07 2018-06-13 Handhabungseinrichtung mit einem roboter sowie verfahren und computerprogramm

Publications (2)

Publication Number Publication Date
CN110914020A CN110914020A (zh) 2020-03-24
CN110914020B true CN110914020B (zh) 2023-08-18

Family

ID=62636195

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201880051203.XA Active CN110914020B (zh) 2017-08-07 2018-06-13 具有机器人的操纵装置以及方法和计算机程序

Country Status (5)

Country Link
JP (1) JP7003220B2 (ko)
KR (1) KR102553391B1 (ko)
CN (1) CN110914020B (ko)
DE (1) DE102017213651A1 (ko)
WO (1) WO2019029870A1 (ko)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110370314B (zh) * 2019-06-11 2020-11-13 杭州亿恒科技有限公司 基于多激光跟踪仪的双臂机器人性能测量方法
US20230226691A1 (en) 2020-07-08 2023-07-20 Mitsubishi Electric Corporation Robot controller, robot control method, and storage medium storing robot control program
US12103185B2 (en) 2021-03-10 2024-10-01 Samsung Electronics Co., Ltd. Parameterized waypoint generation on dynamically parented non-static objects for robotic autonomous tasks
US11945117B2 (en) 2021-03-10 2024-04-02 Samsung Electronics Co., Ltd. Anticipating user and object poses through task-based extrapolation for robot-human collision avoidance
US11833691B2 (en) 2021-03-30 2023-12-05 Samsung Electronics Co., Ltd. Hybrid robotic motion planning system using machine learning and parametric trajectories
CN114131657B (zh) * 2021-12-28 2024-01-23 芜湖藦卡机器人科技有限公司 一种工业机器人轨迹检测装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5150452A (en) * 1989-07-28 1992-09-22 Megamation Incorporated Method and apparatus for anti-collision and collision protection for multiple robot system
JP2003200368A (ja) * 2001-10-25 2003-07-15 Yaskawa Electric Corp 複数ロボットの作業教示方法および作業教示装置
CN1982001A (zh) * 2005-12-13 2007-06-20 发那科株式会社 多个机器人之间的联锁自动设定装置及自动设定方法
CN103240591A (zh) * 2012-02-03 2013-08-14 佳能株式会社 装配设备和装配方法
JP2015160253A (ja) * 2014-02-26 2015-09-07 キヤノン株式会社 軌道生成方法、ロボット装置、プログラム及び記録媒体
CN106503373A (zh) * 2016-11-04 2017-03-15 湘潭大学 一种基于b样条曲线的双机器人协调装配的轨迹规划方法
CN106945020A (zh) * 2017-05-18 2017-07-14 哈尔滨工业大学 一种空间双机械臂系统运动协调控制方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10235580A (ja) * 1997-02-26 1998-09-08 Seiko Seiki Co Ltd 位置・力目標軌道生成器
DE102013014287A1 (de) 2012-08-27 2014-03-20 OBE OHNMACHT & BAUMGäRTNER GMBH & CO. KG Verfahren und Vorrichtung zum Verbinden feinmechanischer Bauteile
US9555545B2 (en) * 2014-05-21 2017-01-31 Bot & Dolly, Llc Systems and methods for time-based parallel robotic operation
DE102014222857A1 (de) * 2014-11-10 2016-05-12 Kuka Roboter Gmbh Flexibles taktzeitoptimiertes Teilen eines Arbeitsraums für Roboter

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5150452A (en) * 1989-07-28 1992-09-22 Megamation Incorporated Method and apparatus for anti-collision and collision protection for multiple robot system
JP2003200368A (ja) * 2001-10-25 2003-07-15 Yaskawa Electric Corp 複数ロボットの作業教示方法および作業教示装置
CN1982001A (zh) * 2005-12-13 2007-06-20 发那科株式会社 多个机器人之间的联锁自动设定装置及自动设定方法
CN103240591A (zh) * 2012-02-03 2013-08-14 佳能株式会社 装配设备和装配方法
JP2015160253A (ja) * 2014-02-26 2015-09-07 キヤノン株式会社 軌道生成方法、ロボット装置、プログラム及び記録媒体
CN106503373A (zh) * 2016-11-04 2017-03-15 湘潭大学 一种基于b样条曲线的双机器人协调装配的轨迹规划方法
CN106945020A (zh) * 2017-05-18 2017-07-14 哈尔滨工业大学 一种空间双机械臂系统运动协调控制方法

Also Published As

Publication number Publication date
KR102553391B1 (ko) 2023-07-11
JP7003220B2 (ja) 2022-01-20
WO2019029870A1 (de) 2019-02-14
DE102017213651A1 (de) 2019-02-07
JP2020529931A (ja) 2020-10-15
CN110914020A (zh) 2020-03-24
KR20200038468A (ko) 2020-04-13

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