CN117042930A - 用于机器人辅助的表面加工的力控搬运装置 - Google Patents

用于机器人辅助的表面加工的力控搬运装置 Download PDF

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Publication number
CN117042930A
CN117042930A CN202280022805.9A CN202280022805A CN117042930A CN 117042930 A CN117042930 A CN 117042930A CN 202280022805 A CN202280022805 A CN 202280022805A CN 117042930 A CN117042930 A CN 117042930A
Authority
CN
China
Prior art keywords
force
tool
contact
flange
handling device
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
CN202280022805.9A
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English (en)
Chinese (zh)
Inventor
罗纳德·纳德雷
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.)
Ferrobotics Compliant Robot Technology GmbH
Original Assignee
Ferrobotics Compliant Robot Technology 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
Application filed by Ferrobotics Compliant Robot Technology GmbH filed Critical Ferrobotics Compliant Robot Technology GmbH
Publication of CN117042930A publication Critical patent/CN117042930A/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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program 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
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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
    • G05B2219/37—Measurements
    • G05B2219/37405—Contact detection between workpiece and tool, probe, feeler
    • 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
    • G05B2219/39529—Force, torque sensor in wrist, end effector
    • 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
    • G05B2219/39577—Active electromechanical compliance for wrist

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202280022805.9A 2021-03-22 2022-03-22 用于机器人辅助的表面加工的力控搬运装置 Pending CN117042930A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102021106990.4 2021-03-22
DE102021106990.4A DE102021106990A1 (de) 2021-03-22 2021-03-22 Kraftgeregelte Handhabungsvorrichtung für die robotergestützte Oberflächenbearbeitung
PCT/EP2022/057458 WO2022200329A1 (de) 2021-03-22 2022-03-22 Kraftgeregelte handhabungsvorrichtung für die robotergestützte oberflächenbearbeitung

Publications (1)

Publication Number Publication Date
CN117042930A true CN117042930A (zh) 2023-11-10

Family

ID=81344389

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280022805.9A Pending CN117042930A (zh) 2021-03-22 2022-03-22 用于机器人辅助的表面加工的力控搬运装置

Country Status (7)

Country Link
US (1) US20240173858A1 (https=)
EP (1) EP4313506A1 (https=)
JP (1) JP2024510677A (https=)
KR (1) KR20230159866A (https=)
CN (1) CN117042930A (https=)
DE (1) DE102021106990A1 (https=)
WO (1) WO2022200329A1 (https=)

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FI20215948A1 (en) * 2021-09-09 2023-03-10 Mirka Ltd Method and apparatus for surface processing
US12397421B2 (en) 2021-12-22 2025-08-26 Ati Industrial Automation, Inc. Contact force overshoot mitigation in pneumatic force control devices
DE102023109766B3 (de) 2023-04-18 2024-10-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum Steuern einer Robotereinrichtung
CN117381763B (zh) * 2023-10-18 2024-05-31 芜湖藦卡机器人科技有限公司 一种机器人工具手自动标定检测机构及检测方法
CN119427074A (zh) * 2025-01-13 2025-02-14 泉州装备制造研究所 多自由度浮动加工方法及多自由度浮动加工系统

Citations (5)

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KR20090082535A (ko) * 2008-01-28 2009-07-31 최광배 공작기계의 공구파손 감지방법 및 감지장치
CN102132048A (zh) * 2009-01-13 2011-07-20 松下电器产业株式会社 弹性体致动器的控制装置及控制方法、控制程序
CN103429400A (zh) * 2011-03-16 2013-12-04 菲尔罗伯蒂克斯顺从式机器人技术有限公司 接触作业的主动操作装置和方法
CN105196296A (zh) * 2015-08-13 2015-12-30 江苏汇博机器人技术有限公司 一种应用于打磨工业机器人作业的末端力反馈系统及方法
EP3702114A1 (de) * 2019-02-27 2020-09-02 Seconsys GmbH Kontaktflanschsystem und verfahren zum bearbeiten einer werkstückoberfläche

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DE102010003697B4 (de) 2010-04-07 2012-12-06 Ferrobotics Compliant Robot Technology Gmbh Aktive Handhabungsvorrichtung und Verfahren für Kontaktaufgaben
DE102014119532B4 (de) 2014-12-23 2016-11-03 Ferrobotics Compliant Robot Technology Gmbh Robotergestütztes Schleifverfahren und Vorrichtung zum robotergestützten Schleifen
DE102015102642B4 (de) * 2015-02-24 2017-07-27 Kastanienbaum GmbH Vorrichtung und Verfahren zur Steuerung und Regelung eines Roboter-Manipulators
DE102015104164B4 (de) 2015-03-19 2019-05-29 Ferrobotics Compliant Robot Technology Gmbh Verfahren und Vorrichtung zur robotergestützten Oberflächenbearbeitung
DE102016219128B4 (de) 2016-09-30 2021-07-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum Durchführen von Wischbewegungen durch einen Roboterarm
JP2018202504A (ja) 2017-05-31 2018-12-27 ソニー株式会社 医療用支持アームシステム、医療用支持アームの制御方法、および医療用支持アームの制御装置
JP6456555B1 (ja) 2017-11-02 2019-01-23 三菱電機株式会社 キャリブレーション装置、キャリブレーション方法および制御装置
JP6748126B2 (ja) 2018-02-08 2020-08-26 ファナック株式会社 作業ロボットシステム
US10953548B2 (en) 2018-07-19 2021-03-23 International Business Machines Corporation Perform peg-in-hole task with unknown tilt
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KR20090082535A (ko) * 2008-01-28 2009-07-31 최광배 공작기계의 공구파손 감지방법 및 감지장치
CN102132048A (zh) * 2009-01-13 2011-07-20 松下电器产业株式会社 弹性体致动器的控制装置及控制方法、控制程序
CN103429400A (zh) * 2011-03-16 2013-12-04 菲尔罗伯蒂克斯顺从式机器人技术有限公司 接触作业的主动操作装置和方法
CN105196296A (zh) * 2015-08-13 2015-12-30 江苏汇博机器人技术有限公司 一种应用于打磨工业机器人作业的末端力反馈系统及方法
EP3702114A1 (de) * 2019-02-27 2020-09-02 Seconsys GmbH Kontaktflanschsystem und verfahren zum bearbeiten einer werkstückoberfläche

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范伟 等: "气动人工肌肉驱动球面并联机器人的力控制研究", 《机器人》, vol. 26, no. 4, 31 July 2004 (2004-07-31), pages 336 - 341 *

Also Published As

Publication number Publication date
WO2022200329A1 (de) 2022-09-29
KR20230159866A (ko) 2023-11-22
DE102021106990A1 (de) 2022-09-22
US20240173858A1 (en) 2024-05-30
EP4313506A1 (de) 2024-02-07
JP2024510677A (ja) 2024-03-08

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