DE3925275C2 - - Google Patents

Info

Publication number
DE3925275C2
DE3925275C2 DE3925275A DE3925275A DE3925275C2 DE 3925275 C2 DE3925275 C2 DE 3925275C2 DE 3925275 A DE3925275 A DE 3925275A DE 3925275 A DE3925275 A DE 3925275A DE 3925275 C2 DE3925275 C2 DE 3925275C2
Authority
DE
Germany
Prior art keywords
real
environment
graphics
camera
manipulator
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
DE3925275A
Other languages
German (de)
English (en)
Other versions
DE3925275A1 (de
Inventor
Uwe Kuehnapfel
Klaus Dr. 7514 Eggenstein-Leopoldshafen De Leinemann
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.)
Forschungszentrum Karlsruhe GmbH
Original Assignee
Kernforschungszentrum Karlsruhe 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 Kernforschungszentrum Karlsruhe GmbH filed Critical Kernforschungszentrum Karlsruhe GmbH
Priority to DE3925275A priority Critical patent/DE3925275A1/de
Priority to AT90114466T priority patent/ATE112076T1/de
Priority to EP90114466A priority patent/EP0411498B1/de
Publication of DE3925275A1 publication Critical patent/DE3925275A1/de
Application granted granted Critical
Publication of DE3925275C2 publication Critical patent/DE3925275C2/de
Granted 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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1625—Truss-manipulator for snake-like motion
    • 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
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • B25J9/1689—Teleoperation
    • 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
    • G05B2219/39082—Collision, real time collision avoidance
    • 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
    • G05B2219/40124—During manipulator motion, sensor feedback to adapt model in memory
    • 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
    • G05B2219/40125—Overlay real time stereo image of object on existing, stored memory image argos
    • 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
    • G05B2219/40131—Virtual reality control, programming of manipulator
    • 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
    • G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Processing Or Creating Images (AREA)
  • Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)
DE3925275A 1989-07-31 1989-07-31 Verfahren zur manipulation in unzugaenglichen arbeitsraeumen Granted DE3925275A1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE3925275A DE3925275A1 (de) 1989-07-31 1989-07-31 Verfahren zur manipulation in unzugaenglichen arbeitsraeumen
AT90114466T ATE112076T1 (de) 1989-07-31 1990-07-27 Verfahren zur manipulation in unzugänglichen arbeitsräumen.
EP90114466A EP0411498B1 (de) 1989-07-31 1990-07-27 Verfahren zur Manipulation in unzugänglichen Arbeitsräumen

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE3925275A DE3925275A1 (de) 1989-07-31 1989-07-31 Verfahren zur manipulation in unzugaenglichen arbeitsraeumen

Publications (2)

Publication Number Publication Date
DE3925275A1 DE3925275A1 (de) 1991-02-07
DE3925275C2 true DE3925275C2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1991-06-06

Family

ID=6386198

Family Applications (1)

Application Number Title Priority Date Filing Date
DE3925275A Granted DE3925275A1 (de) 1989-07-31 1989-07-31 Verfahren zur manipulation in unzugaenglichen arbeitsraeumen

Country Status (3)

Country Link
EP (1) EP0411498B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
AT (1) ATE112076T1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
DE (1) DE3925275A1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2681162B1 (fr) * 1991-09-10 1995-03-17 Paris Val De Marne Universite Procede et dispositif d'aide a la commande a distance d'engins robotises lors d'un processus de teleoperation effectue en environnement hostile.
US5631973A (en) 1994-05-05 1997-05-20 Sri International Method for telemanipulation with telepresence
GB2274521B (en) * 1993-01-11 1997-01-08 Hitachi Ltd Production control system
US5412569A (en) * 1994-03-29 1995-05-02 General Electric Company Augmented reality maintenance system with archive and comparison device
TW259856B (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) * 1994-03-29 1995-10-11 Gen Electric
US5550758A (en) * 1994-03-29 1996-08-27 General Electric Company Augmented reality maintenance system with flight planner
JP4014662B2 (ja) * 1995-09-18 2007-11-28 ファナック株式会社 ロボット教示操作盤
FR2822573B1 (fr) * 2001-03-21 2003-06-20 France Telecom Procede et systeme de reconstruction a distance d'une surface
GB2381725B (en) * 2001-11-05 2004-01-14 H2Eye Graphical user interface for a remote operated vehicle
US8015507B2 (en) 2001-11-05 2011-09-06 H2Eye (International) Limited Graphical user interface for a remote operated vehicle
RU2255853C1 (ru) * 2004-01-05 2005-07-10 Курский государственный технический университет Устройство для управления движением транспортного робота
RU2263021C1 (ru) * 2004-10-18 2005-10-27 Курский государственный технический университет Устройство для управления движением транспортного робота
RU2273559C1 (ru) * 2004-11-18 2006-04-10 Александр Алексеевич Бурба Устройство для выбора управляющих воздействий
RU2424105C2 (ru) * 2008-11-28 2011-07-20 Валерий Александрович Бимаков Устройство управления автономным роботом
DE102010008240B4 (de) * 2010-02-17 2015-10-15 Siemens Aktiengesellschaft Verfahren zum Betrieb eines mehrachsigen, vorzugsweise sechsachsigen, Roboters

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3741632A1 (de) * 1987-12-05 1989-06-22 Noell Gmbh Verfahren und vorrichtung zum erkennen und ansteuern eines raumzieles

Also Published As

Publication number Publication date
ATE112076T1 (de) 1994-10-15
EP0411498A3 (en) 1991-04-03
DE3925275A1 (de) 1991-02-07
EP0411498A2 (de) 1991-02-06
EP0411498B1 (de) 1994-09-21

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Legal Events

Date Code Title Description
OP8 Request for examination as to paragraph 44 patent law
D2 Grant after examination
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee