DE102017213651A1 - Handhabungseinrichtung mit einem Roboter sowie Verfahren und Computerprogramm - Google Patents

Handhabungseinrichtung mit einem Roboter sowie Verfahren und Computerprogramm Download PDF

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Publication number
DE102017213651A1
DE102017213651A1 DE102017213651.0A DE102017213651A DE102017213651A1 DE 102017213651 A1 DE102017213651 A1 DE 102017213651A1 DE 102017213651 A DE102017213651 A DE 102017213651A DE 102017213651 A1 DE102017213651 A1 DE 102017213651A1
Authority
DE
Germany
Prior art keywords
trajectory
time
handling device
robot
kinematic chains
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
DE102017213651.0A
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German (de)
English (en)
Inventor
Sergey Alatartsev
Felix Beuke
Simon Jessen
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE102017213651.0A priority Critical patent/DE102017213651A1/de
Priority to CN201880051203.XA priority patent/CN110914020B/zh
Priority to KR1020207003532A priority patent/KR102553391B1/ko
Priority to JP2020506796A priority patent/JP7003220B2/ja
Priority to PCT/EP2018/065689 priority patent/WO2019029870A1/de
Publication of DE102017213651A1 publication Critical patent/DE102017213651A1/de
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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39083—Robot interference, between two robot arms
    • 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
    • G05B2219/40371—Control trajectory to avoid joint limit as well as obstacle collision
    • 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
    • G05B2219/40463—Shortest distance in time, or metric, time optimal
    • 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
    • G05B2219/40476—Collision, planning for collision free 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40477—Plan path independent from obstacles, then correction for obstacles

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
DE102017213651.0A 2017-08-07 2017-08-07 Handhabungseinrichtung mit einem Roboter sowie Verfahren und Computerprogramm Pending DE102017213651A1 (de)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE102017213651.0A DE102017213651A1 (de) 2017-08-07 2017-08-07 Handhabungseinrichtung mit einem Roboter sowie Verfahren und Computerprogramm
CN201880051203.XA CN110914020B (zh) 2017-08-07 2018-06-13 具有机器人的操纵装置以及方法和计算机程序
KR1020207003532A KR102553391B1 (ko) 2017-08-07 2018-06-13 로봇을 구비한 취급 장치, 방법 및 컴퓨터 프로그램
JP2020506796A JP7003220B2 (ja) 2017-08-07 2018-06-13 ロボットを備えるハンドリング装置、方法及びコンピュータプログラム
PCT/EP2018/065689 WO2019029870A1 (de) 2017-08-07 2018-06-13 Handhabungseinrichtung mit einem roboter sowie verfahren und computerprogramm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017213651.0A DE102017213651A1 (de) 2017-08-07 2017-08-07 Handhabungseinrichtung mit einem Roboter sowie Verfahren und Computerprogramm

Publications (1)

Publication Number Publication Date
DE102017213651A1 true DE102017213651A1 (de) 2019-02-07

Family

ID=62636195

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102017213651.0A Pending DE102017213651A1 (de) 2017-08-07 2017-08-07 Handhabungseinrichtung mit einem Roboter sowie Verfahren und Computerprogramm

Country Status (5)

Country Link
JP (1) JP7003220B2 (ko)
KR (1) KR102553391B1 (ko)
CN (1) CN110914020B (ko)
DE (1) DE102017213651A1 (ko)
WO (1) WO2019029870A1 (ko)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110370314A (zh) * 2019-06-11 2019-10-25 杭州亿恒科技有限公司 基于多激光跟踪仪的双臂机器人性能测量方法
CN114131657A (zh) * 2021-12-28 2022-03-04 芜湖藦卡机器人科技有限公司 一种工业机器人轨迹检测装置
DE112020007414B4 (de) 2020-07-08 2024-08-14 Mitsubishi Electric Corporation Robotersteuerung, robotersteuerverfahren und speichermedium zum speichern eines robotersteuerprogramms

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12103185B2 (en) 2021-03-10 2024-10-01 Samsung Electronics Co., Ltd. Parameterized waypoint generation on dynamically parented non-static objects for robotic autonomous tasks
US11945117B2 (en) 2021-03-10 2024-04-02 Samsung Electronics Co., Ltd. Anticipating user and object poses through task-based extrapolation for robot-human collision avoidance
US11833691B2 (en) 2021-03-30 2023-12-05 Samsung Electronics Co., Ltd. Hybrid robotic motion planning system using machine learning and parametric trajectories

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013014287A1 (de) 2012-08-27 2014-03-20 OBE OHNMACHT & BAUMGäRTNER GMBH & CO. KG Verfahren und Vorrichtung zum Verbinden feinmechanischer Bauteile

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US5150452A (en) * 1989-07-28 1992-09-22 Megamation Incorporated Method and apparatus for anti-collision and collision protection for multiple robot system
JPH10235580A (ja) * 1997-02-26 1998-09-08 Seiko Seiki Co Ltd 位置・力目標軌道生成器
JP4228387B2 (ja) * 2001-10-25 2009-02-25 株式会社安川電機 複数ロボットの作業教示方法および作業教示装置
JP4159577B2 (ja) * 2005-12-13 2008-10-01 ファナック株式会社 複数のロボット間のインターロック自動設定装置及び自動設定方法
JP6039187B2 (ja) * 2012-02-03 2016-12-07 キヤノン株式会社 組立装置、把持ハンドおよび物品の組立方法
JP6282140B2 (ja) * 2014-02-26 2018-02-21 キヤノン株式会社 軌道生成方法、ロボット装置、プログラム及び記録媒体
US9555545B2 (en) * 2014-05-21 2017-01-31 Bot & Dolly, Llc Systems and methods for time-based parallel robotic operation
DE102014222857A1 (de) * 2014-11-10 2016-05-12 Kuka Roboter Gmbh Flexibles taktzeitoptimiertes Teilen eines Arbeitsraums für Roboter
CN106503373B (zh) * 2016-11-04 2020-07-28 湘潭大学 一种基于b样条曲线的双机器人协调装配轨迹规划方法
CN106945020B (zh) * 2017-05-18 2019-10-22 哈尔滨工业大学 一种空间双机械臂系统运动协调控制方法

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013014287A1 (de) 2012-08-27 2014-03-20 OBE OHNMACHT & BAUMGäRTNER GMBH & CO. KG Verfahren und Vorrichtung zum Verbinden feinmechanischer Bauteile

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110370314A (zh) * 2019-06-11 2019-10-25 杭州亿恒科技有限公司 基于多激光跟踪仪的双臂机器人性能测量方法
DE112020007414B4 (de) 2020-07-08 2024-08-14 Mitsubishi Electric Corporation Robotersteuerung, robotersteuerverfahren und speichermedium zum speichern eines robotersteuerprogramms
CN114131657A (zh) * 2021-12-28 2022-03-04 芜湖藦卡机器人科技有限公司 一种工业机器人轨迹检测装置
CN114131657B (zh) * 2021-12-28 2024-01-23 芜湖藦卡机器人科技有限公司 一种工业机器人轨迹检测装置

Also Published As

Publication number Publication date
KR102553391B1 (ko) 2023-07-11
JP7003220B2 (ja) 2022-01-20
CN110914020B (zh) 2023-08-18
WO2019029870A1 (de) 2019-02-14
JP2020529931A (ja) 2020-10-15
CN110914020A (zh) 2020-03-24
KR20200038468A (ko) 2020-04-13

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