DE3888055D1 - Gegenstandskollisionserkennungsschaltung. - Google Patents

Gegenstandskollisionserkennungsschaltung.

Info

Publication number
DE3888055D1
DE3888055D1 DE88307445T DE3888055T DE3888055D1 DE 3888055 D1 DE3888055 D1 DE 3888055D1 DE 88307445 T DE88307445 T DE 88307445T DE 3888055 T DE3888055 T DE 3888055T DE 3888055 D1 DE3888055 D1 DE 3888055D1
Authority
DE
Germany
Prior art keywords
detection circuit
collision detection
object collision
circuit
detection
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.)
Expired - Fee Related
Application number
DE88307445T
Other languages
English (en)
Other versions
DE3888055T2 (de
Inventor
Kenji Shimada
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.)
International Business Machines Corp
Original Assignee
International Business Machines 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.)
Filing date
Publication date
Application filed by International Business Machines Corp filed Critical International Business Machines Corp
Application granted granted Critical
Publication of DE3888055D1 publication Critical patent/DE3888055D1/de
Publication of DE3888055T2 publication Critical patent/DE3888055T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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
    • B25J9/1656—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
    • 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—Programme-control systems
    • G05B19/02—Programme-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 programme data in numerical form
    • G05B19/406—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 programme data in numerical form characterised by monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • 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]

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
DE3888055T 1987-09-09 1988-08-11 Gegenstandskollisionserkennungsschaltung. Expired - Fee Related DE3888055T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62224232A JPH07107648B2 (ja) 1987-09-09 1987-09-09 物体間衝突検出装置

Publications (2)

Publication Number Publication Date
DE3888055D1 true DE3888055D1 (de) 1994-04-07
DE3888055T2 DE3888055T2 (de) 1994-09-15

Family

ID=16810571

Family Applications (1)

Application Number Title Priority Date Filing Date
DE3888055T Expired - Fee Related DE3888055T2 (de) 1987-09-09 1988-08-11 Gegenstandskollisionserkennungsschaltung.

Country Status (5)

Country Link
US (1) US4888707A (de)
EP (1) EP0307091B1 (de)
JP (1) JPH07107648B2 (de)
CA (1) CA1282174C (de)
DE (1) DE3888055T2 (de)

Families Citing this family (54)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01230107A (ja) * 1988-03-10 1989-09-13 Fanuc Ltd サーボモータにより駆動される被駆動体の衝突検出方法
US5047916A (en) * 1988-03-25 1991-09-10 Kabushiki Kaisha Toshiba Method and apparatus of free space enumeration for collision avoidance
US5058026A (en) * 1988-04-27 1991-10-15 Ricoh Company, Ltd. Assemblability discriminating method and assembling sequence generating method
US5056031A (en) * 1988-11-12 1991-10-08 Kabushiki Kaisha Toyota Chuo Kenyusho Apparatus for detecting the collision of moving objects
US5150452A (en) * 1989-07-28 1992-09-22 Megamation Incorporated Method and apparatus for anti-collision and collision protection for multiple robot system
US5144740A (en) * 1989-09-04 1992-09-08 Brother Kogyo Kabushiki Kaisha Numerically controlled machine tool with automatic tool exchange device and indexing device
US5122966A (en) * 1989-09-18 1992-06-16 Northern Research & Engineering Computer generated tool path interference check method
US6089742A (en) * 1989-11-01 2000-07-18 Warmerdam; Thomas P. H. Method and apparatus for controlling robots and the like using a bubble data hierarchy placed along a medial axis
JP2608161B2 (ja) * 1990-03-29 1997-05-07 ファナック株式会社 産業用ロボットの停止制御方法
US5172253A (en) * 1990-06-21 1992-12-15 Inernational Business Machines Corporation Neural network model for reaching a goal state
DE69229433T2 (de) * 1991-10-24 1999-11-25 Canon K.K., Tokio/Tokyo Einrichtung und Verfahren zur kinematischen Simulierung
EP0546633A2 (de) * 1991-12-11 1993-06-16 Koninklijke Philips Electronics N.V. Bahnführung in unbestimmter Umgebung
US5359542A (en) * 1991-12-20 1994-10-25 The Boeing Company Variable parameter collision avoidance system for aircraft work platforms
US5515489A (en) * 1991-12-31 1996-05-07 Apple Computer, Inc. Collision detector utilizing collision contours
US5349533A (en) * 1992-05-08 1994-09-20 Lockheed Missiles & Space Company, Inc. System and method for collision checking between solid objects and vectors
JP2785086B2 (ja) * 1992-06-17 1998-08-13 ファナック株式会社 ロボットの手動送り方法
US5497453A (en) * 1993-01-05 1996-03-05 International Business Machines Corporation Method and apparatus for detecting and visualizing interferences between solids
US5343385A (en) * 1993-08-17 1994-08-30 International Business Machines Corporation Interference-free insertion of a solid body into a cavity
US5623642A (en) * 1994-04-06 1997-04-22 M ak Technologies, Inc. Method for simulating newtonian interactions over a computer network
US5835684A (en) * 1994-11-09 1998-11-10 Amada Company, Ltd. Method for planning/controlling robot motion
EP0836915B1 (de) * 1995-06-13 2002-02-06 TOYO KOHAN Co., Ltd Verfahren zum zuvorkommen von interferenz für industrierobotor
WO1997046767A1 (de) * 1996-06-03 1997-12-11 Siemens Aktiengesellschaft Verfahren und anordnung zur überwachung des arbeitsbereiches beim bewegen eines fortbewegbaren arbeitsgerätes
US6044306A (en) * 1997-10-14 2000-03-28 Vadim Shapiro Methods and apparatus for shaping moving geometric shapes
JP3415438B2 (ja) * 1998-05-12 2003-06-09 富士通株式会社 干渉チェック装置および方法
US6266064B1 (en) * 1998-05-29 2001-07-24 Microsoft Corporation Coherent visibility sorting and occlusion cycle detection for dynamic aggregate geometry
US6215503B1 (en) 1998-05-29 2001-04-10 Microsoft Corporation Image generator and method for resolving non-binary cyclic occlusions with image compositing operations
DE19847740C1 (de) 1998-10-16 2000-03-23 Richard Herbst Verfahren zum Steuern eines Bewegungsablaufs eines bewegbaren Bauteils einer Kunststoff-Spritzgießmaschine
US6993461B1 (en) 1999-06-10 2006-01-31 Dassault Systemes Swept volume model
JP3785349B2 (ja) * 2001-11-09 2006-06-14 ファナック株式会社 シミュレーション装置
JP3975341B2 (ja) * 2002-05-15 2007-09-12 株式会社安川電機 ロボットの干渉チェック方法
NO318259B1 (no) * 2003-08-15 2005-02-21 Aker Mh As Antikollisjonssystem
KR100517880B1 (ko) * 2003-11-20 2005-09-28 학교법인 포항공과대학교 Ｃｎｃ 가공에서 생산시간 단축과 가공 정밀도 향상을위한 이송속도 스케줄링 방법
JP4505295B2 (ja) * 2004-09-16 2010-07-21 ヤマザキマザック株式会社 Ｎｃ加工シミュレーション方法及びｎｃ加工シミュレーション装置
US20060233098A1 (en) * 2005-04-14 2006-10-19 Mcardle James M Method for detecting object collisions in a computer-based game
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
US20070234698A1 (en) * 2006-04-11 2007-10-11 Deere & Company, A Delaware Corporation DC electric motor to adjust reel functions
US20080002889A1 (en) * 2006-06-02 2008-01-03 Kenji Shimada Systems and methods for extracting an approximated medial surface from a thin-wall solid
JP4143103B2 (ja) * 2006-12-20 2008-09-03 本田技研工業株式会社 移動装置、ならびにその制御システム、制御プログラムおよび監督システム
JP4955451B2 (ja) 2007-05-16 2012-06-20 ヤマザキマザック株式会社 複合旋盤装置の制御方法、複合旋盤装置、刃先位置登録装置、及び刃先位置検出装置
JP5169175B2 (ja) * 2007-11-27 2013-03-27 富士通株式会社 干渉チェック方法、計算機支援設計装置及び干渉チェック用プログラム
WO2012014409A1 (ja) * 2010-07-27 2012-02-02 パナソニック株式会社 移動経路探索装置および移動経路探索方法
JP2012216151A (ja) * 2011-04-01 2012-11-08 Mitsubishi Electric Corp 干渉回避制御装置
DE102015113110B4 (de) * 2015-08-10 2019-03-14 MAQUET GmbH Ansteuervorrichtung mindestens einer Antriebseinrichtung eines Operationstisches und Verfahren zum Ansteuern
US20180373209A1 (en) * 2015-12-18 2018-12-27 Noid Tech, Llc Control system, method and apparatus for utility delivery subsystems
WO2017144350A1 (en) * 2016-02-25 2017-08-31 Nec Europe Ltd. Method for motion planning for autonomous moving objects
EP3220223B1 (de) * 2016-03-16 2021-07-14 Siemens Aktiengesellschaft Verfahren zur bearbeitung eines werkstücks in einer werkzeugmaschine mit optimierter bearbeitungszeit
JP6895082B2 (ja) 2017-11-09 2021-06-30 オムロン株式会社 干渉判定方法、干渉判定システム及びコンピュータプログラム
CN107717996B (zh) * 2017-11-14 2018-08-24 北京镁伽机器人科技有限公司 具有测距停止功能的多关节机器人和测距停止方法
CN107907593B (zh) * 2017-11-22 2020-09-22 中南大学 一种超声检测中机械手防碰撞方法
US11292133B2 (en) * 2018-09-28 2022-04-05 Intel Corporation Methods and apparatus to train interdependent autonomous machines
JP6508691B1 (ja) 2018-10-15 2019-05-08 株式会社Ｍｕｊｉｎ 制御装置、作業ロボット、プログラム、及び、制御方法
US11577392B2 (en) * 2019-08-30 2023-02-14 Intrinsic Innovation Llc Splitting transformers for robotics planning
US11747787B2 (en) 2019-08-30 2023-09-05 Intrinsic Innovation Llc Combining transformers for robotics planning
US20230294287A1 (en) * 2022-03-15 2023-09-21 Fanuc Corporation Swept volume deformation

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE456048B (sv) * 1982-02-24 1988-08-29 Philips Norden Ab Sett och anordning for att bestemma kollisionsrisken for tva inbordes rorliga kroppar
JPS62159203A (ja) * 1986-01-08 1987-07-15 Hitachi Ltd ロボツトの干渉防止方法
JPH07120390B2 (ja) * 1985-11-22 1995-12-20 沖電気工業株式会社 文字切出し方法

Also Published As

Publication number Publication date
JPH07107648B2 (ja) 1995-11-15
US4888707A (en) 1989-12-19
DE3888055T2 (de) 1994-09-15
JPS6472209A (en) 1989-03-17
EP0307091B1 (de) 1994-03-02
EP0307091A2 (de) 1989-03-15
EP0307091A3 (en) 1990-07-04
CA1282174C (en) 1991-03-26

Similar Documents

Publication Publication Date Title
DE3888055D1 (de) Gegenstandskollisionserkennungsschaltung.
DE3850629D1 (de) Adaptierbarer Schaltkreis.
DE3853611D1 (de) Positionsbestimmungssystem.
LU91198I2 (fr) Cyazofamid.
DE3885026D1 (de) Treiberschaltung.
DE3787896D1 (de) Elektronisches parkometersystem.
DE3885994D1 (de) Schaltung zur Bewegungsdetektion.
FI890607A (fi) Kopplingsanordning.
DE3851506D1 (de) Rücksetzsignal-Generatorschaltung.
DE3881855D1 (de) Signalverzoegerungsschaltung.
DE3884501D1 (de) Vergleichsschaltung.
DE69017601D1 (de) Schaltungsanordnung.
DE69008464D1 (de) Schaltungsanordnung.
DE68922210D1 (de) Signalbearbeitungsschaltungen.
DE3880175D1 (de) Komparatorschaltung.
DE68912876D1 (de) Halbbild-Diskriminierschaltung.
DE3674418D1 (de) Signalerkennungsschaltung.
DE68913743D1 (de) Detektorschaltung.
DE69023395D1 (de) Arbitrierungsschaltung.
DE3788632D1 (de) Signalverarbeitung.
DE69108904D1 (de) Signalverarbeitungsschaltung.
DE3852718D1 (de) Signalerkennungsschaltung.
DE69000868D1 (de) Detektorschaltung.
DE3751088D1 (de) Signalverarbeitungseinrichtung.
DE3684353D1 (de) Signalverarbeitungsschaltung.

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee