DE102011010505A1 - Anpassung der Dynamik zumindest eines Roboters - Google Patents

Anpassung der Dynamik zumindest eines Roboters Download PDF

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Publication number
DE102011010505A1
DE102011010505A1 DE102011010505A DE102011010505A DE102011010505A1 DE 102011010505 A1 DE102011010505 A1 DE 102011010505A1 DE 102011010505 A DE102011010505 A DE 102011010505A DE 102011010505 A DE102011010505 A DE 102011010505A DE 102011010505 A1 DE102011010505 A1 DE 102011010505A1
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Germany
Prior art keywords
robot
position range
dynamic behavior
load characteristic
painting
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.)
Withdrawn
Application number
DE102011010505A
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German (de)
English (en)
Inventor
Frank Herre
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.)
Duerr Systems AG
Original Assignee
Duerr Systems AG
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 Duerr Systems AG filed Critical Duerr Systems AG
Priority to DE102011010505A priority Critical patent/DE102011010505A1/de
Priority to JP2013552142A priority patent/JP6552786B2/ja
Priority to US13/982,493 priority patent/US9703283B2/en
Priority to EP12702769.6A priority patent/EP2673679B1/de
Priority to CN201280016210.9A priority patent/CN103477292B/zh
Priority to ES12702769T priority patent/ES2875833T3/es
Priority to PCT/EP2012/000531 priority patent/WO2012107199A2/de
Publication of DE102011010505A1 publication Critical patent/DE102011010505A1/de
Priority to JP2018158097A priority patent/JP2019000980A/ja
Priority to JP2019196925A priority patent/JP7021168B2/ja
Withdrawn legal-status Critical Current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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces
    • B05B13/0433—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces the work being vehicle components, e.g. vehicle bodies
    • 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
    • B25J9/1651—Program controls characterised by the control loop acceleration, rate 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/404—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 program data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • 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—Program-control systems
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    • 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 program data in numerical form
    • G05B19/416—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 program data in numerical form characterised by control of velocity, acceleration or deceleration
    • 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0292—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work devices for holding several workpieces to be sprayed in a spaced relationship, e.g. vehicle doors spacers
    • 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
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    • G05B2219/37—Measurements
    • G05B2219/37252—Life of tool, service life, decay, wear estimation
    • 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
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    • 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
    • G05B2219/39364—Path, correction of path in function of load
    • 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
    • G05B2219/40318—Simulation of reaction force and moment, force simulation
    • 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
    • G05B2219/40453—Maximum torque for each axis
    • 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
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43062—Maximum acceleration, limit
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43203—Limitation of speed, permissible, allowable, maximum speed
    • 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
    • G05B2219/45013—Spraying, coating, painting
    • 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
    • G05B2219/45238—Tape, fiber, glue, material dispensing in layers, beads, filling, sealing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool
    • Y10S901/43—Spray painting or coating

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Quality & Reliability (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Numerical Control (AREA)
DE102011010505A 2011-02-07 2011-02-07 Anpassung der Dynamik zumindest eines Roboters Withdrawn DE102011010505A1 (de)

Priority Applications (9)

Application Number Priority Date Filing Date Title
DE102011010505A DE102011010505A1 (de) 2011-02-07 2011-02-07 Anpassung der Dynamik zumindest eines Roboters
JP2013552142A JP6552786B2 (ja) 2011-02-07 2012-02-06 少なくとも一つのロボットの動力学の適合
US13/982,493 US9703283B2 (en) 2011-02-07 2012-02-06 Adapting the dynamics of at least one robot
EP12702769.6A EP2673679B1 (de) 2011-02-07 2012-02-06 Anpassung der dynamik zumindest eines roboters
CN201280016210.9A CN103477292B (zh) 2011-02-07 2012-02-06 至少一个机器人的动态特性适应
ES12702769T ES2875833T3 (es) 2011-02-07 2012-02-06 Adaptación de la dinámica de por lo menos un robot
PCT/EP2012/000531 WO2012107199A2 (de) 2011-02-07 2012-02-06 Anpassung der dynamik zumindest eines roboters
JP2018158097A JP2019000980A (ja) 2011-02-07 2018-08-27 少なくとも一つのロボットの動力学の適合
JP2019196925A JP7021168B2 (ja) 2011-02-07 2019-10-30 少なくとも一つのロボットの動力学の適合

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102011010505A DE102011010505A1 (de) 2011-02-07 2011-02-07 Anpassung der Dynamik zumindest eines Roboters

Publications (1)

Publication Number Publication Date
DE102011010505A1 true DE102011010505A1 (de) 2012-08-09

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
DE102011010505A Withdrawn DE102011010505A1 (de) 2011-02-07 2011-02-07 Anpassung der Dynamik zumindest eines Roboters

Country Status (7)

Country Link
US (1) US9703283B2 (https=)
EP (1) EP2673679B1 (https=)
JP (3) JP6552786B2 (https=)
CN (1) CN103477292B (https=)
DE (1) DE102011010505A1 (https=)
ES (1) ES2875833T3 (https=)
WO (1) WO2012107199A2 (https=)

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EP2805774A3 (en) * 2013-05-03 2015-03-11 ABB Technology AG Automatic painting and maintaining wet-surface of artifacts
DE102016010945B3 (de) * 2016-09-09 2017-10-26 Dürr Systems Ag Optimierungsverfahren für einen Beschichtungsroboter und entsprechende Beschichtungsanlage
DE102018128175A1 (de) * 2018-11-12 2020-05-14 Technische Universität Darmstadt Verfahren und Vorrichtung zur Ermittlung von Verlagerungen eines Werkzeugmittelpunktes
DE102020213991A1 (de) 2020-11-06 2022-05-12 Dürr Systems Ag Verfahren zum Betreiben einer Behandlungsanlage und Behandlungsanlage
WO2022194707A1 (de) * 2021-03-18 2022-09-22 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren zum bewegen eines bearbeitungskopfs eines strahlwerkzeugs während einer bearbeitungspause

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JP5877867B2 (ja) * 2014-04-25 2016-03-08 ファナック株式会社 複数台のロボットのシミュレーション装置
US20160098038A1 (en) * 2014-10-01 2016-04-07 Rockwell Automation Technologies, Inc. Sizing and selection closer to the executing environment
JP6126152B2 (ja) * 2015-03-16 2017-05-10 ファナック株式会社 曲線部を有する軌道を生成するロボットの軌道生成装置
CN105610625A (zh) * 2016-01-04 2016-05-25 杭州亚美利嘉科技有限公司 一种机器人终端网络异常的自恢复方法和装置
CN109395941B (zh) * 2018-11-15 2020-04-21 无锡荣恩科技有限公司 喷涂环境下实时调节机器人运行速度的方法
EP3898001A1 (de) * 2018-12-21 2021-10-27 J. Wagner GmbH Funktionskontrolle für einen elektrohydrodynamischen zerstäuber
DE102019111760A1 (de) * 2019-05-07 2020-11-12 Dürr Systems Ag Beschichtungsverfahren und entsprechende Beschichtungsanlage
DE102019121628B3 (de) * 2019-08-12 2020-08-20 Franka Emika Gmbh Verfahren zum Betreiben eines Robotermanipulators mit erhöhter Masse einer Last
CN113414786B (zh) * 2021-06-08 2025-01-24 上海交通大学 一种用于寿命预测的末端机构、柔性机器人

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WO2022194707A1 (de) * 2021-03-18 2022-09-22 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren zum bewegen eines bearbeitungskopfs eines strahlwerkzeugs während einer bearbeitungspause

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US20140052294A1 (en) 2014-02-20
US9703283B2 (en) 2017-07-11
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JP6552786B2 (ja) 2019-07-31
EP2673679A2 (de) 2013-12-18
CN103477292B (zh) 2016-07-20
CN103477292A (zh) 2013-12-25
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ES2875833T3 (es) 2021-11-11
JP2020037180A (ja) 2020-03-12

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