CN115697643A - 控制多个执行机构的方法、电子设备和存储介质 - Google Patents

控制多个执行机构的方法、电子设备和存储介质 Download PDF

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Publication number
CN115697643A
CN115697643A CN202080101641.XA CN202080101641A CN115697643A CN 115697643 A CN115697643 A CN 115697643A CN 202080101641 A CN202080101641 A CN 202080101641A CN 115697643 A CN115697643 A CN 115697643A
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China
Prior art keywords
actuators
determining
actuator
motion
execution
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Pending
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CN202080101641.XA
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English (en)
Inventor
王子健
刘文峰
范顺杰
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Siemens AG
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Siemens AG
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Application filed by Siemens AG filed Critical Siemens AG
Publication of CN115697643A publication Critical patent/CN115697643A/zh
Pending legal-status Critical Current

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    • 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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34057—Complement
    • 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
    • G05B2219/40417—For cooperating 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
    • G05B2219/45—Nc applications
    • G05B2219/45104—Lasrobot, welding robot
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45135—Welding

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

一种控制多个执行机构的方法，包括：确定多个执行机构中的各个执行机构之间的同步运动的依赖关系，该依赖关系表示多个执行机构中的第二组执行机构的运动取决于多个执行机构中的第一组执行机构的运动；基于依赖关系，确定第一组执行机构和第二组执行机构的执行顺序；确定与相应的执行机构耦接的关节的旋转角度；按照所确定的执行顺序，依次控制关节分别旋转所确定的旋转角度。该方法通过对多个执行机构的运动顺序进行控制，可以在集中式或者分布式的控制系统中，使满足复杂的同步运动的依赖关系的多个执行机构按期望的方式运动。还涉及一种电子设备和计算机可读介质。

Description

PCT国内申请，说明书已公开。

Claims (15)

  1. PCT国内申请，权利要求书已公开。
CN202080101641.XA 2020-06-24 2020-06-24 控制多个执行机构的方法、电子设备和存储介质 Pending CN115697643A (zh)

Applications Claiming Priority (1)

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PCT/CN2020/098141 WO2021258338A1 (zh) 2020-06-24 2020-06-24 控制多个执行机构的方法、电子设备和存储介质

Publications (1)

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CN115697643A true CN115697643A (zh) 2023-02-03

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Country Link
US (1) US20230259100A1 (zh)
EP (1) EP4155035A4 (zh)
CN (1) CN115697643A (zh)
WO (1) WO2021258338A1 (zh)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4402053A (en) * 1980-09-25 1983-08-30 Board Of Regents For Education For The State Of Rhode Island Estimating workpiece pose using the feature points method
US20040128022A1 (en) * 2002-12-19 2004-07-01 Fanuc Ltd. Synchronous controller
CN105073349A (zh) * 2013-03-19 2015-11-18 松下知识产权经营株式会社 机器人系统的控制方法以及机器人系统
CN107015535A (zh) * 2017-03-14 2017-08-04 浙江大学 一种双机器人协同焊接及检测装置控制系统
CN108890184A (zh) * 2018-08-22 2018-11-27 合肥工业大学 基于分立式六轴机器人和两轴变位机的协调焊接控制方法
CN110161972A (zh) * 2018-02-11 2019-08-23 上银科技股份有限公司 多机同步协同控制方法及系统

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2880590B2 (ja) * 1991-07-24 1999-04-12 株式会社不二越 産業用ロボットの同期制御方法
US20070142966A1 (en) 2005-12-20 2007-06-21 Khalid Mirza Process for moving a robot
CN107486858A (zh) * 2017-08-08 2017-12-19 浙江工业大学 基于RoboDK的多机械臂协同离线编程方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4402053A (en) * 1980-09-25 1983-08-30 Board Of Regents For Education For The State Of Rhode Island Estimating workpiece pose using the feature points method
US20040128022A1 (en) * 2002-12-19 2004-07-01 Fanuc Ltd. Synchronous controller
CN105073349A (zh) * 2013-03-19 2015-11-18 松下知识产权经营株式会社 机器人系统的控制方法以及机器人系统
CN107015535A (zh) * 2017-03-14 2017-08-04 浙江大学 一种双机器人协同焊接及检测装置控制系统
CN110161972A (zh) * 2018-02-11 2019-08-23 上银科技股份有限公司 多机同步协同控制方法及系统
CN108890184A (zh) * 2018-08-22 2018-11-27 合肥工业大学 基于分立式六轴机器人和两轴变位机的协调焊接控制方法

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WO2021258338A1 (zh) 2021-12-30
EP4155035A1 (en) 2023-03-29
US20230259100A1 (en) 2023-08-17
EP4155035A4 (en) 2024-02-28

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