DE102010052253A8 - Method and control means for controlling a robot arrangement - Google Patents

Method and control means for controlling a robot arrangement Download PDF

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Publication number
DE102010052253A8
DE102010052253A8 DE102010052253A DE102010052253A DE102010052253A8 DE 102010052253 A8 DE102010052253 A8 DE 102010052253A8 DE 102010052253 A DE102010052253 A DE 102010052253A DE 102010052253 A DE102010052253 A DE 102010052253A DE 102010052253 A8 DE102010052253 A8 DE 102010052253A8
Authority
DE
Germany
Prior art keywords
controlling
control means
robot arrangement
robot
arrangement
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.)
Granted
Application number
DE102010052253A
Other languages
German (de)
Other versions
DE102010052253A1 (en
DE102010052253B4 (en
Inventor
Christian Sonner
Peter Klueger
Dr. Kurth Johannes
Manfred Hüttenhofer
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 Roboter 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 KUKA Roboter GmbH filed Critical KUKA Roboter GmbH
Priority to DE102010052253.8A priority Critical patent/DE102010052253B4/en
Priority to PCT/EP2011/005477 priority patent/WO2012069129A1/en
Priority to CN201180025278.9A priority patent/CN102905859B/en
Publication of DE102010052253A1 publication Critical patent/DE102010052253A1/en
Publication of DE102010052253A8 publication Critical patent/DE102010052253A8/en
Application granted granted Critical
Publication of DE102010052253B4 publication Critical patent/DE102010052253B4/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • 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
    • G05B2219/34314—Slow down, limit speed for energy saving
    • 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
    • G05B2219/39144—Scale moving time of all robots, machines to match slowest, no waiting
    • 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
    • G05B2219/39361—Minimize time-energy cost

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
DE102010052253.8A 2010-11-23 2010-11-23 Method and control means for controlling a robot arrangement Active DE102010052253B4 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE102010052253.8A DE102010052253B4 (en) 2010-11-23 2010-11-23 Method and control means for controlling a robot arrangement
PCT/EP2011/005477 WO2012069129A1 (en) 2010-11-23 2011-10-28 Method and control element for controlling a robot arrangement
CN201180025278.9A CN102905859B (en) 2010-11-23 2011-10-28 For controlling the method for robot group and controlling device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010052253.8A DE102010052253B4 (en) 2010-11-23 2010-11-23 Method and control means for controlling a robot arrangement

Publications (3)

Publication Number Publication Date
DE102010052253A1 DE102010052253A1 (en) 2012-05-24
DE102010052253A8 true DE102010052253A8 (en) 2013-04-25
DE102010052253B4 DE102010052253B4 (en) 2019-03-21

Family

ID=44903164

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102010052253.8A Active DE102010052253B4 (en) 2010-11-23 2010-11-23 Method and control means for controlling a robot arrangement

Country Status (3)

Country Link
CN (1) CN102905859B (en)
DE (1) DE102010052253B4 (en)
WO (1) WO2012069129A1 (en)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9227322B2 (en) 2012-11-30 2016-01-05 Fanuc Robotics America Corporation Multi-arm robotic painting process synchronization
US9649765B2 (en) 2013-03-11 2017-05-16 Siemens Aktiengesellschaft Reducing energy consumption of industrial robots by using new methods for motion path programming
DE102013013847A1 (en) * 2013-08-20 2015-02-26 Kuka Roboter Gmbh Energy-optimized configuration of a manipulator
US9922144B2 (en) 2014-03-26 2018-03-20 Siemens Industry Software Ltd. Energy and cycle time efficiency based method for robot positioning
JP5877867B2 (en) * 2014-04-25 2016-03-08 ファナック株式会社 Simulation equipment for multiple robots
US9701011B2 (en) 2014-05-08 2017-07-11 Siemens Industry Software Ltd. Method for robotic energy saving tool search
CN103970139B (en) * 2014-05-09 2017-01-11 上海交通大学 Robot continuous point position motion planning method
US9815201B2 (en) 2014-07-31 2017-11-14 Siemens Industry Software Limited Method and apparatus for industrial robotic energy saving optimization using fly-by
US9298863B2 (en) 2014-07-31 2016-03-29 Siemens Industry Software Ltd. Method and apparatus for saving energy and reducing cycle time by using optimal robotic joint configurations
US9469029B2 (en) 2014-07-31 2016-10-18 Siemens Industry Software Ltd. Method and apparatus for saving energy and reducing cycle time by optimal ordering of the industrial robotic path
US9457469B2 (en) 2014-08-14 2016-10-04 Siemens Industry Software Ltd. Method and apparatus for automatic and efficient location generation for cooperative motion
DE102014222857A1 (en) * 2014-11-10 2016-05-12 Kuka Roboter Gmbh Flexible time-optimized sharing of a working space for robots
DE102014225252A1 (en) 2014-12-09 2016-06-09 Kuka Systems Gmbh Method for monitoring at least one industrial robot, industrial robot and system with several industrial robots
DE102015109708B3 (en) * 2015-06-17 2016-01-21 Uwe Simon Method for controlling the movement sequence of a motor-driven machine or tool component
EP3115857A1 (en) 2015-07-09 2017-01-11 Siemens Aktiengesellschaft Trajectory determining method for in addition to secondary processing movements
DE102015011010A1 (en) 2015-08-21 2017-02-23 Kuka Systems Gmbh Method and system for controlling an at least partially automated system
CN108472808B (en) * 2015-10-13 2022-05-17 艾天诚工程技术系统股份有限公司 Synchronization of multiple robots
CN106338933A (en) * 2016-10-31 2017-01-18 河池学院 Communication traffic flow saving robot control method
CN106824643B (en) * 2016-12-23 2023-05-09 江西拓又达科技集团有限公司 Spraying equipment and spraying method for six-degree-of-freedom robot
JP6708581B2 (en) * 2017-04-07 2020-06-10 ライフロボティクス株式会社 Teaching device, display device, teaching program and display program
JP6730355B2 (en) 2018-03-27 2020-07-29 ファナック株式会社 Integrated simulation system with improved operability
DE102019102427B4 (en) * 2019-01-31 2022-02-10 Franka Emika Gmbh Coordination of trajectories of two robotic manipulators
AT522075B1 (en) * 2019-05-07 2020-08-15 Engel Austria Gmbh Process for optimizing motion sequences
DE102022201792B3 (en) 2022-02-21 2023-04-20 Volkswagen Aktiengesellschaft Method and device for the automated coordination of the activities of several robots

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09101813A (en) * 1995-10-05 1997-04-15 Nissan Motor Co Ltd Robot control system
JPH09244730A (en) * 1996-03-11 1997-09-19 Komatsu Ltd Robot system and controller for robot
DE19625637A1 (en) 1996-06-26 1998-01-02 Brink Carsten Dipl Ing Ten Robot operating method for multi-robot operation e.g. in deep sea applications
US6678582B2 (en) * 2002-05-30 2004-01-13 Kuka Roboter Gmbh Method and control device for avoiding collisions between cooperating robots
WO2005124486A2 (en) * 2004-06-15 2005-12-29 Abb Ab Method and system for off-line programming of multiple interacting robots
JP4382003B2 (en) 2005-03-23 2009-12-09 川崎重工業株式会社 Robot control apparatus and robot control method
JP5375297B2 (en) * 2009-04-16 2013-12-25 株式会社安川電機 Robot system

Also Published As

Publication number Publication date
CN102905859B (en) 2016-10-19
WO2012069129A1 (en) 2012-05-31
CN102905859A (en) 2013-01-30
DE102010052253A1 (en) 2012-05-24
DE102010052253B4 (en) 2019-03-21

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Legal Events

Date Code Title Description
R163 Identified publications notified
R163 Identified publications notified

Effective date: 20130610

R012 Request for examination validly filed
R016 Response to examination communication
R018 Grant decision by examination section/examining division
R081 Change of applicant/patentee

Owner name: KUKA DEUTSCHLAND GMBH, DE

Free format text: FORMER OWNER: KUKA ROBOTER GMBH, 86165 AUGSBURG, DE

R082 Change of representative
R020 Patent grant now final