DE112005000166B4 - Roboter und Verfahren zum Positionieren mittels einer Nullraumbewegung - Google Patents

Roboter und Verfahren zum Positionieren mittels einer Nullraumbewegung Download PDF

Info

Publication number
DE112005000166B4
DE112005000166B4 DE112005000166.0T DE112005000166T DE112005000166B4 DE 112005000166 B4 DE112005000166 B4 DE 112005000166B4 DE 112005000166 T DE112005000166 T DE 112005000166T DE 112005000166 B4 DE112005000166 B4 DE 112005000166B4
Authority
DE
Germany
Prior art keywords
rotation
axis
effector
rigid element
rotary drive
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.)
Active
Application number
DE112005000166.0T
Other languages
German (de)
English (en)
Other versions
DE112005000166D2 (de
Inventor
Tobias Brett
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.)
Haostern De GmbH
Original Assignee
Technische Universitaet Berlin
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 Technische Universitaet Berlin filed Critical Technische Universitaet Berlin
Publication of DE112005000166D2 publication Critical patent/DE112005000166D2/de
Application granted granted Critical
Publication of DE112005000166B4 publication Critical patent/DE112005000166B4/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE112005000166.0T 2004-01-08 2005-01-10 Roboter und Verfahren zum Positionieren mittels einer Nullraumbewegung Active DE112005000166B4 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102004001822.7 2004-01-08
DE102004001822 2004-01-08
PCT/EP2005/000235 WO2005065893A2 (de) 2004-01-08 2005-01-10 Redundanter roboter und verfahren zum positionieren desselben

Publications (2)

Publication Number Publication Date
DE112005000166D2 DE112005000166D2 (de) 2006-11-30
DE112005000166B4 true DE112005000166B4 (de) 2015-09-24

Family

ID=34744700

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112005000166.0T Active DE112005000166B4 (de) 2004-01-08 2005-01-10 Roboter und Verfahren zum Positionieren mittels einer Nullraumbewegung

Country Status (3)

Country Link
JP (1) JP2007517677A (ru)
DE (1) DE112005000166B4 (ru)
WO (1) WO2005065893A2 (ru)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022115462B3 (de) 2022-06-21 2023-07-06 Deutsches Zentrum für Luft- und Raumfahrt e.V. Robotermanipulator mit Aufgaben-Nullraum
DE102022125564B3 (de) 2022-10-04 2023-10-12 J.Schmalz Gmbh Verfahren zum Handhaben von Gegenständen und Handhabungsanlage

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7374525B2 (en) * 2006-01-25 2008-05-20 Protedyne Corporation SCARA-type robotic system
GB0720716D0 (en) * 2007-10-23 2007-12-05 York Pharma Plc Novel formulation
DE102011077546A1 (de) * 2011-06-15 2012-12-20 Technische Universität Berlin Verfahren zum Betreiben eines Roboters, Roboter und Robotersystem

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2852821B1 (de) * 1978-12-07 1980-04-30 Walter Reis Maschinenbau, 8753 Obernburg Manipulator
DE3513705A1 (de) * 1985-04-16 1986-10-23 Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Industrieroboter mit schwenkarm
US4699563A (en) * 1984-05-31 1987-10-13 Seiko Instruments & Electronics Ltd. Horizontal articulated robot
US4702668A (en) * 1985-01-24 1987-10-27 Adept Technology, Inc. Direct drive robotic system
GB2254171A (en) * 1988-02-15 1992-09-30 Amada Co Ltd Welding robot
JP2000024966A (ja) * 1998-07-14 2000-01-25 Mitsubishi Electric Corp 産業用ロボット
US6275748B1 (en) * 1998-12-02 2001-08-14 Newport Corporation Robot arm with specimen sensing and edge gripping end effector
US20030085681A1 (en) * 2001-10-17 2003-05-08 Masafumi Sakamoto Multi-joint type industrial robot
US20030123971A1 (en) * 2001-12-28 2003-07-03 Dainippon Screen Mfg. Co., Ltd. Substrate processing apparatus and substrate processing method
US6593718B1 (en) * 1999-09-28 2003-07-15 Tazmo Co., Ltd. Horizontal multi-joint industrial robot

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5294873A (en) * 1992-10-27 1994-03-15 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Kinematic functions for redundancy resolution using configuration control
JP2000072248A (ja) * 1998-08-27 2000-03-07 Rorze Corp 基板搬送装置

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2852821B1 (de) * 1978-12-07 1980-04-30 Walter Reis Maschinenbau, 8753 Obernburg Manipulator
US4699563A (en) * 1984-05-31 1987-10-13 Seiko Instruments & Electronics Ltd. Horizontal articulated robot
US4702668A (en) * 1985-01-24 1987-10-27 Adept Technology, Inc. Direct drive robotic system
DE3513705A1 (de) * 1985-04-16 1986-10-23 Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Industrieroboter mit schwenkarm
GB2254171A (en) * 1988-02-15 1992-09-30 Amada Co Ltd Welding robot
JP2000024966A (ja) * 1998-07-14 2000-01-25 Mitsubishi Electric Corp 産業用ロボット
US6275748B1 (en) * 1998-12-02 2001-08-14 Newport Corporation Robot arm with specimen sensing and edge gripping end effector
US6593718B1 (en) * 1999-09-28 2003-07-15 Tazmo Co., Ltd. Horizontal multi-joint industrial robot
US20030085681A1 (en) * 2001-10-17 2003-05-08 Masafumi Sakamoto Multi-joint type industrial robot
US20030123971A1 (en) * 2001-12-28 2003-07-03 Dainippon Screen Mfg. Co., Ltd. Substrate processing apparatus and substrate processing method

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
A discrete time approach", 34. Regelungstechnisches Kolloquium - Kurzfassung der Beiträge, Boppard, 2000 *
A discrete time approach", 34. Regelungstechnisches Kolloquium – Kurzfassung der Beiträge, Boppard, 2000
Oda, N.; Murakami, T.; Ohnishi, K.,: Observer based local torque optimization in redundant manipulator. In: Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on, 1996, 1915 - 1921. *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022115462B3 (de) 2022-06-21 2023-07-06 Deutsches Zentrum für Luft- und Raumfahrt e.V. Robotermanipulator mit Aufgaben-Nullraum
DE102022125564B3 (de) 2022-10-04 2023-10-12 J.Schmalz Gmbh Verfahren zum Handhaben von Gegenständen und Handhabungsanlage

Also Published As

Publication number Publication date
JP2007517677A (ja) 2007-07-05
WO2005065893A3 (de) 2007-04-19
WO2005065893A2 (de) 2005-07-21
DE112005000166D2 (de) 2006-11-30

Similar Documents

Publication Publication Date Title
EP2698234B1 (de) Vorrichtung und verfahren zum automatisierten entnehmen von in einem behälter angeordneten werkstücken
EP2720834B1 (de) Verfahren zum betreiben eines roboters und roboter
EP1366868B1 (de) Verfahren und Vorrichtung zur Kompensation der Trägheitskräfte eines Handhabungssystems
DE112005000166B4 (de) Roboter und Verfahren zum Positionieren mittels einer Nullraumbewegung
DE102015114013B4 (de) Verfahren und Vorrichtung zur Steuerung des Betriebs eines Roboters
EP1916072A1 (de) Handhabungsvorrichtung und Fertigungseinrichtung
EP2492062B1 (de) Industrieroboter
DE102012101979B4 (de) Verfahren und Vorrichtung zur Erzeugung einer Relativbewegung
DE112020001748B4 (de) Haltevorrichtung mit einem ersten und einem zweiten haltemechanismus und hiermit versehener roboter
EP2681016B1 (de) Parallelroboter und steuerungsverfahren
EP2355957B1 (de) Verfahren und vorrichtung zum steuern eines manipulatorsystems
EP3585572B1 (de) Robotergreifer mit einer antriebsvorrichtung
EP2504741B1 (de) Verfahren zum erstellen eines robotermodells und industrieroboter
EP3455036B1 (de) Robotergreifer mit einer antriebsvorrichtung
EP2539115A1 (de) Manipulationsvorrichtung
DE102006057843B4 (de) Industrieroboter
EP3838510B1 (de) Automatisierungskomponente, insbesondere greifeinheit, lineareinheit oder schwenkeinheit
DE102008008341A1 (de) Maschine und Verfahren zum Herstellen eines Steuerprogramms
EP3341165B1 (de) Robotergreifer
EP2952991A1 (de) Verfahren zum verlustminimalen Bewegen zweier Achsen mittels einem Beschleunigungsprofils
DE102016221463B4 (de) Verfahren zum Planen der Bewegung eines Roboterarms
WO2019110244A1 (de) Abfahren einer vorgegebenen arbeitsbahn mit einem roboter
EP4104982B1 (de) Roboterarm mit einem handgelenk und einem befestigungsflansch
AT521085B1 (de) Verfahren zur Bewegungssteuerung eines Werkstücks
AT520516B1 (de) Handhabungseinrichtung für eine Formgebungsmaschine

Legal Events

Date Code Title Description
OP8 Request for examination as to paragraph 44 patent law

Ref document number: 112005000166

Country of ref document: DE

Date of ref document: 20061130

Kind code of ref document: P

R016 Response to examination communication
R018 Grant decision by examination section/examining division
R020 Patent grant now final
R081 Change of applicant/patentee

Owner name: HAOSTERN GMBH, DE

Free format text: FORMER OWNER: TECHNISCHE UNIVERSITAET BERLIN, 10623 BERLIN, DE

R082 Change of representative