CN112135718A - 机器人的控制 - Google Patents

机器人的控制 Download PDF

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Publication number
CN112135718A
CN112135718A CN201980033367.4A CN201980033367A CN112135718A CN 112135718 A CN112135718 A CN 112135718A CN 201980033367 A CN201980033367 A CN 201980033367A CN 112135718 A CN112135718 A CN 112135718A
Authority
CN
China
Prior art keywords
robot
acceleration
shaft
speed
limits
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
CN201980033367.4A
Other languages
English (en)
Chinese (zh)
Inventor
F·阿尔门丁格
J·D·穆诺茨奥索里奥
M·D·菲奥雷
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.)
KUKA Deutschland GmbH
Original Assignee
KUKA Deutschland 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
Priority claimed from DE102018207921.8A external-priority patent/DE102018207921B3/de
Application filed by KUKA Deutschland GmbH filed Critical KUKA Deutschland GmbH
Publication of CN112135718A publication Critical patent/CN112135718A/zh
Pending legal-status Critical Current

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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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • 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
    • G05B2219/39319—Force control, force as reference, active compliance
    • 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
    • G05B2219/39338—Impedance control, also mechanical
    • 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
    • G05B2219/40336—Optimize multiple constraints or subtasks
    • 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
    • G05B2219/40344—Configuration index, control, limits of joint movement
    • 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
    • G05B2219/40359—Constraint, physical limitations
    • 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
    • G05B2219/40454—Max velocity, acceleration limit for workpiece and arm jerk rate as constraints
    • 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
    • G05B2219/40552—Joint limit
CN201980033367.4A 2018-05-18 2019-05-16 机器人的控制 Pending CN112135718A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE102018207921.8A DE102018207921B3 (de) 2018-05-18 2018-05-18 Steuern eines Roboters
DE102018207921.8 2018-05-18
DE102018214946.1 2018-09-03
DE102018214946 2018-09-03
PCT/EP2019/062575 WO2019219795A1 (de) 2018-05-18 2019-05-16 Steuern eines roboters

Publications (1)

Publication Number Publication Date
CN112135718A true CN112135718A (zh) 2020-12-25

Family

ID=66597585

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980033367.4A Pending CN112135718A (zh) 2018-05-18 2019-05-16 机器人的控制

Country Status (3)

Country Link
KR (1) KR20210010870A (de)
CN (1) CN112135718A (de)
WO (1) WO2019219795A1 (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019220619B3 (de) * 2019-12-30 2021-01-28 Kuka Deutschland Gmbh Bewegen einer roboterfesten Referenz

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6181983B1 (en) * 1997-06-20 2001-01-30 Deutsches Zentrum f{umlaut over (u)}r Luft-und Raumfahrt e.v. Method of command control for a robot manipulator
JP2008110406A (ja) * 2006-10-27 2008-05-15 Yaskawa Electric Corp ロボットの直接教示装置
CN106826839A (zh) * 2015-11-19 2017-06-13 库卡罗伯特有限公司 对机器人的控制
US9694495B1 (en) * 2013-06-24 2017-07-04 Redwood Robotics Inc. Virtual tools for programming a robot arm
US20180099410A1 (en) * 2016-10-12 2018-04-12 Fanuc Corporation Robot control device having function for limiting speed and/or acceleration of robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6181983B1 (en) * 1997-06-20 2001-01-30 Deutsches Zentrum f{umlaut over (u)}r Luft-und Raumfahrt e.v. Method of command control for a robot manipulator
JP2008110406A (ja) * 2006-10-27 2008-05-15 Yaskawa Electric Corp ロボットの直接教示装置
US9694495B1 (en) * 2013-06-24 2017-07-04 Redwood Robotics Inc. Virtual tools for programming a robot arm
CN106826839A (zh) * 2015-11-19 2017-06-13 库卡罗伯特有限公司 对机器人的控制
US20180099410A1 (en) * 2016-10-12 2018-04-12 Fanuc Corporation Robot control device having function for limiting speed and/or acceleration of robot

Also Published As

Publication number Publication date
KR20210010870A (ko) 2021-01-28
WO2019219795A1 (de) 2019-11-21

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