CN115351780A - 用于控制机器人设备的方法 - Google Patents
用于控制机器人设备的方法 Download PDFInfo
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- CN115351780A CN115351780A CN202210527848.4A CN202210527848A CN115351780A CN 115351780 A CN115351780 A CN 115351780A CN 202210527848 A CN202210527848 A CN 202210527848A CN 115351780 A CN115351780 A CN 115351780A
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- trajectory
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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
- B25J9/1656—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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36401—Record play back, teach position and record it then play back
-
- 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
- G05B2219/39001—Robot, manipulator control
-
- 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
- G05B2219/39298—Trajectory learning
-
- 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
- G05B2219/40519—Motion, trajectory planning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102021204961.3A DE102021204961B4 (de) | 2021-05-17 | 2021-05-17 | Verfahren zur Steuerung einer Robotervorrichtung |
| DE102021204961.3 | 2021-05-17 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115351780A true CN115351780A (zh) | 2022-11-18 |
Family
ID=83806295
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210527848.4A Pending CN115351780A (zh) | 2021-05-17 | 2022-05-16 | 用于控制机器人设备的方法 |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP2022176917A (ko) |
| KR (1) | KR20220155921A (ko) |
| CN (1) | CN115351780A (ko) |
| DE (1) | DE102021204961B4 (ko) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115946130A (zh) * | 2023-03-13 | 2023-04-11 | 中国人民解放军国防科技大学 | 基于黎曼流形的人机协同方法 |
| CN116922391A (zh) * | 2023-08-24 | 2023-10-24 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | 一种基于多层条件概率运动原语的空间机械臂技能自主学习与优化方法 |
| CN116985144A (zh) * | 2023-09-26 | 2023-11-03 | 珞石（北京）科技有限公司 | 一种具有c2连续的机器人末端姿态规划方法 |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102022206381A1 (de) | 2022-06-24 | 2024-01-04 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Steuern einer Robotervorrichtung |
| DE102022212638B3 (de) | 2022-11-25 | 2024-03-14 | Robert Bosch Gesellschaft mit beschränkter Haftung | Vorrichtung und Verfahren zum Steuern eines Roboters |
| DE102023200231A1 (de) | 2023-01-12 | 2024-07-18 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Evaluieren einer Steuerung einer Robotervorrichtung |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9403273B2 (en) | 2014-05-23 | 2016-08-02 | GM Global Technology Operations LLC | Rapid robotic imitation learning of force-torque tasks |
| WO2017129200A1 (en) | 2016-01-28 | 2017-08-03 | MAX-PLANCK-Gesellschaft zur Förderung der Wissenschaften e.V. | A system for real-world continuous motion optimization and control |
| CN115338859A (zh) | 2016-09-15 | 2022-11-15 | 谷歌有限责任公司 | 机器人操纵的深度强化学习 |
| EP3753684B1 (en) | 2019-06-21 | 2022-08-10 | Robert Bosch GmbH | Method and system for robot manipulation planning |
| DE102019209616A1 (de) | 2019-07-01 | 2021-01-07 | Kuka Deutschland Gmbh | Durchführen einer vorgegebenen Aufgabe mithilfe wenigstens eines Roboters |
| DE102019216229B4 (de) | 2019-10-07 | 2022-11-10 | Robert Bosch Gmbh | Vorrichtung und Verfahren zum Steuern einer Robotervorrichtung |
| EP3812972A1 (en) | 2019-10-25 | 2021-04-28 | Robert Bosch GmbH | Method for controlling a robot and robot controller |
| DE102019216560B4 (de) | 2019-10-28 | 2022-01-13 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Trainieren von Manipulationsfertigkeiten eines Robotersystems |
| EP3838503B1 (en) | 2019-12-16 | 2024-05-01 | Robert Bosch GmbH | Method for controlling a robot and robot controller |
| DE102020207085A1 (de) | 2020-06-05 | 2021-12-09 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum steuern eines roboters und robotersteuereinheit |
-
2021
- 2021-05-17 DE DE102021204961.3A patent/DE102021204961B4/de active Active
-
2022
- 2022-05-16 JP JP2022080087A patent/JP2022176917A/ja active Pending
- 2022-05-16 CN CN202210527848.4A patent/CN115351780A/zh active Pending
- 2022-05-17 KR KR1020220059921A patent/KR20220155921A/ko unknown
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115946130A (zh) * | 2023-03-13 | 2023-04-11 | 中国人民解放军国防科技大学 | 基于黎曼流形的人机协同方法 |
| CN116922391A (zh) * | 2023-08-24 | 2023-10-24 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | 一种基于多层条件概率运动原语的空间机械臂技能自主学习与优化方法 |
| CN116985144A (zh) * | 2023-09-26 | 2023-11-03 | 珞石（北京）科技有限公司 | 一种具有c2连续的机器人末端姿态规划方法 |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2022176917A (ja) | 2022-11-30 |
| DE102021204961B4 (de) | 2023-06-07 |
| DE102021204961A1 (de) | 2022-11-17 |
| KR20220155921A (ko) | 2022-11-24 |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination |