DE102015107436B4 - Lernfähige Bahnsteuerung - Google Patents

Lernfähige Bahnsteuerung Download PDF

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Publication number
DE102015107436B4
DE102015107436B4 DE102015107436.2A DE102015107436A DE102015107436B4 DE 102015107436 B4 DE102015107436 B4 DE 102015107436B4 DE 102015107436 A DE102015107436 A DE 102015107436A DE 102015107436 B4 DE102015107436 B4 DE 102015107436B4
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DE
Germany
Prior art keywords
robot
programmed
trace
path
continuous
Prior art date
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Active
Application number
DE102015107436.2A
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German (de)
English (en)
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DE102015107436A1 (de
Inventor
Yi Sun
Jason Tsai
Laxmi Musunur
Michael Sharpe
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.)
Fanuc America Corp
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Fanuc America Corp
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.)
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Publication date
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Publication of DE102015107436A1 publication Critical patent/DE102015107436A1/de
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Publication of DE102015107436B4 publication Critical patent/DE102015107436B4/de
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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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert 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
    • 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
    • G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/0405—Program-control specially adapted for machine tool control and not otherwise provided for
    • 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
    • G05B2219/37092—Display position actual and or target
    • 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
    • G05B2219/45044—Cutting
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49166—Compensation for measured deviation of tool path, as function of lenght of path
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE102015107436.2A 2014-05-21 2015-05-12 Lernfähige Bahnsteuerung Active DE102015107436B4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US14/283,749 2014-05-21
US14/283,749 US10836038B2 (en) 2014-05-21 2014-05-21 Learning path control

Publications (2)

Publication Number Publication Date
DE102015107436A1 DE102015107436A1 (de) 2015-11-26
DE102015107436B4 true DE102015107436B4 (de) 2023-07-06

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
DE102015107436.2A Active DE102015107436B4 (de) 2014-05-21 2015-05-12 Lernfähige Bahnsteuerung

Country Status (4)

Country Link
US (1) US10836038B2 (https=)
JP (2) JP2015221491A (https=)
CN (1) CN105094049B (https=)
DE (1) DE102015107436B4 (https=)

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US10078712B2 (en) * 2014-01-14 2018-09-18 Energid Technologies Corporation Digital proxy simulation of robotic hardware
DE102015008188B3 (de) * 2015-06-25 2016-06-16 Kuka Roboter Gmbh Abfahren einer vorgegebenen Bahn mit einem Roboter
US9844877B1 (en) * 2015-07-14 2017-12-19 X Development Llc Generating a parameter for a movement characteristic for a waypoint trained path of a robot
JP6469069B2 (ja) 2016-12-13 2019-02-13 ファナック株式会社 学習を容易化する機能を備えたロボット制御装置、及びロボット制御方法
JP2018126796A (ja) * 2017-02-06 2018-08-16 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
JP6879766B2 (ja) * 2017-02-10 2021-06-02 株式会社Ihi 経路補正方法及び多軸加工機の制御装置
EP3600788A4 (en) 2017-03-31 2021-01-06 Canvas Construction, Inc. AUTOMATED DRY WALL PLANNING SYSTEM AND PROCEDURE
IL283520B2 (en) 2017-09-25 2025-09-01 Canvas Construction Inc Automated wall finishing system and method
DE112019004519T5 (de) * 2018-09-10 2021-06-02 Fanuc America Corporation Null-einlernen für roboterbahnsteuerung
JP7117237B2 (ja) * 2018-12-27 2022-08-12 川崎重工業株式会社 ロボット制御装置、ロボットシステム及びロボット制御方法
US11724404B2 (en) 2019-02-21 2023-08-15 Canvas Construction, Inc. Surface finish quality evaluation system and method
CN110000841B (zh) * 2019-04-11 2021-01-29 上海维宏电子科技股份有限公司 振动刀加工路径补偿及加工的方法
JP7339806B2 (ja) * 2019-08-05 2023-09-06 川崎重工業株式会社 制御システム、ロボットシステム及び制御方法
CN110782737B (zh) * 2019-12-10 2025-01-14 江苏汇博机器人技术股份有限公司 实训用绘图机器人系统及其考核方法
JP7433509B2 (ja) * 2021-02-18 2024-02-19 三菱電機株式会社 制御装置、ロボットシステム、学習装置、軌跡モデル、制御方法、およびプログラム
EP4119302A1 (en) * 2021-07-15 2023-01-18 Siemens Aktiengesellschaft A method for estimating one or more process forces associated with a tool center point of a machine tool
US12226901B2 (en) * 2021-07-15 2025-02-18 Bank Of America Corporation Smart change evaluator for robotics automation
CN113927593B (zh) * 2021-09-22 2023-06-13 北京航空航天大学 基于任务分解的机械臂操作技能学习方法
JP7651070B2 (ja) * 2022-05-18 2025-03-25 三菱電機株式会社 制御装置、ロボットシステム、学習装置、ロボットの制御方法、プログラムおよび第１補正モデル
CN115616922B (zh) * 2022-12-19 2023-03-21 安徽大学 一种异构移动机器人集群的时间覆盖控制方法
KR102884980B1 (ko) * 2023-10-27 2025-11-11 중앙대학교 산학협력단 로봇의 동작 경로 생성 장치 및 방법

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EP0268491A2 (en) 1986-11-20 1988-05-25 Unimation Inc. Multiaxis robot having improved motion control
US5521829A (en) 1992-08-28 1996-05-28 Samsung Electronics Co., Ltd. Path tracing apparatus for a robot
EP0876640B1 (de) 1996-01-24 2000-03-08 Siemens Aktiengesellschaft Bestimmung und optimierung der arbeitsgenauigkeit einer werkzeugmaschine oder eines roboters oder dergleichen
EP1525953A2 (en) 2003-10-02 2005-04-27 Fanuc Ltd Correction data checking system for robots
DE60129009T2 (de) 2000-04-10 2008-03-06 Abb Ab Bewegungskorrektur eines industrieroboters
US20100241289A1 (en) 2006-06-22 2010-09-23 Roy Sandberg Method and apparatus for path planning, selection, and visualization
DE102011011679B4 (de) 2010-02-19 2013-03-07 Fanuc Corporation Roboter mit Lernsteuerungsfunktion

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JP4674043B2 (ja) 2001-08-03 2011-04-20 シーメンス アクチエンゲゼルシヤフト 予め決められた経路に従って移動する、プログラミングされたコンピュータを備えた自律型の移動ユニットの制御方法およびプログラミング装置
JP3840973B2 (ja) 2001-12-25 2006-11-01 日産自動車株式会社 ロボット教示データの補正方法
SE524818C2 (sv) 2003-02-13 2004-10-05 Abb Ab En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt
JP2006048244A (ja) * 2004-08-02 2006-02-16 Fanuc Ltd 加工プログラム作成装置
US9782229B2 (en) 2007-02-16 2017-10-10 Globus Medical, Inc. Surgical robot platform
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JP2009020846A (ja) 2007-07-14 2009-01-29 Kanto Auto Works Ltd 車両用静電塗装ロボットの修正ティーチング方法
WO2009148610A2 (en) 2008-06-05 2009-12-10 Roy Sandberg Responsive control method and system for a telepresence robot
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Patent Citations (7)

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Publication number Priority date Publication date Assignee Title
EP0268491A2 (en) 1986-11-20 1988-05-25 Unimation Inc. Multiaxis robot having improved motion control
US5521829A (en) 1992-08-28 1996-05-28 Samsung Electronics Co., Ltd. Path tracing apparatus for a robot
EP0876640B1 (de) 1996-01-24 2000-03-08 Siemens Aktiengesellschaft Bestimmung und optimierung der arbeitsgenauigkeit einer werkzeugmaschine oder eines roboters oder dergleichen
DE60129009T2 (de) 2000-04-10 2008-03-06 Abb Ab Bewegungskorrektur eines industrieroboters
EP1525953A2 (en) 2003-10-02 2005-04-27 Fanuc Ltd Correction data checking system for robots
US20100241289A1 (en) 2006-06-22 2010-09-23 Roy Sandberg Method and apparatus for path planning, selection, and visualization
DE102011011679B4 (de) 2010-02-19 2013-03-07 Fanuc Corporation Roboter mit Lernsteuerungsfunktion

Also Published As

Publication number Publication date
JP7096288B2 (ja) 2022-07-05
US20150336267A1 (en) 2015-11-26
DE102015107436A1 (de) 2015-11-26
JP2020128009A (ja) 2020-08-27
CN105094049B (zh) 2020-06-16
JP2015221491A (ja) 2015-12-10
CN105094049A (zh) 2015-11-25
US10836038B2 (en) 2020-11-17

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