DE602005013193D1 - Beschleunigungsmesser zur Bewegungsregelung eines an einem Roboter-Endeffektor befestigten Werkzeugs - Google Patents
Beschleunigungsmesser zur Bewegungsregelung eines an einem Roboter-Endeffektor befestigten WerkzeugsInfo
- Publication number
- DE602005013193D1 DE602005013193D1 DE602005013193T DE602005013193T DE602005013193D1 DE 602005013193 D1 DE602005013193 D1 DE 602005013193D1 DE 602005013193 T DE602005013193 T DE 602005013193T DE 602005013193 T DE602005013193 T DE 602005013193T DE 602005013193 D1 DE602005013193 D1 DE 602005013193D1
- Authority
- DE
- Germany
- Prior art keywords
- accelerometer
- movement
- robot
- end effector
- robot end
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- 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
-
- 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
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36433—Position assisted teaching
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36473—Prohibit teaching if force, speed, acceleration of end effector is out of safe range
-
- 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
- G05B2219/37388—Acceleration or deceleration, inertial measurement
-
- 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
- G05B2219/40549—Acceleration of end effector
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05010949A EP1724072B1 (de) | 2005-05-20 | 2005-05-20 | Beschleunigungsmesser zur Bewegungsregelung eines an einem Roboter-Endeffektor befestigten Werkzeugs |
Publications (1)
Publication Number | Publication Date |
---|---|
DE602005013193D1 true DE602005013193D1 (de) | 2009-04-23 |
Family
ID=34936742
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE602005013193T Active DE602005013193D1 (de) | 2005-05-20 | 2005-05-20 | Beschleunigungsmesser zur Bewegungsregelung eines an einem Roboter-Endeffektor befestigten Werkzeugs |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1724072B1 (de) |
AT (1) | ATE424976T1 (de) |
DE (1) | DE602005013193D1 (de) |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007026299B4 (de) * | 2007-06-06 | 2018-08-16 | Kuka Roboter Gmbh | Industrieroboter und Verfahren zum Programmieren eines Industrieroboters |
DE102008063680A1 (de) * | 2008-10-10 | 2010-04-15 | Abb Ag | Verfahren zum Einlernen (Teachen) eines Industrieroboters sowie ein entsprechend ausgestatteter Industrieroboter |
DE102008043360A1 (de) * | 2008-10-31 | 2010-05-12 | Kuka Roboter Gmbh | Industrieroboter und Verfahren zum Programmieren eines Industrieroboters |
AT509927B1 (de) * | 2010-06-08 | 2015-05-15 | Keba Ag | Verfahren zum programmieren oder vorgeben von bewegungen oder abläufen eines industrieroboters |
DE102010061949A1 (de) | 2010-11-25 | 2012-05-31 | Siemens Aktiengesellschaft | Verfahren und Anordnung zur Überwachung von motorisch bewegbaren Anlageteilen |
DE102011003506A1 (de) | 2011-02-02 | 2012-08-16 | Kuka Roboter Gmbh | Industrieroboter |
JP6527654B2 (ja) * | 2013-03-25 | 2019-06-05 | 株式会社デンソーウェーブ | アームの操作方法及び操作装置 |
JP6527655B2 (ja) * | 2013-03-25 | 2019-06-05 | 株式会社デンソーウェーブ | アームの操作方法及び操作装置 |
DE102014004919B4 (de) * | 2014-04-07 | 2022-05-12 | Abb Schweiz Ag | Verfahren und Mittel zum Handhaben eines Objekts |
JP6379853B2 (ja) | 2014-08-22 | 2018-08-29 | 株式会社デンソーウェーブ | ロボットの制御装置及び制御方法 |
ES2648295T3 (es) * | 2014-11-07 | 2017-12-29 | Comau S.P.A. | Robot industrial y procedimiento de control de un robot industrial |
DE102015200319A1 (de) * | 2015-01-13 | 2016-07-14 | Kuka Systems Gmbh | Einmessverfahren aus Kombination von Vorpositionierung und Handführen |
JP2017019057A (ja) * | 2015-07-13 | 2017-01-26 | セイコーエプソン株式会社 | ロボット制御装置、ロボットおよびロボットシステム |
DE102016000362A1 (de) * | 2016-01-15 | 2017-07-20 | Kuka Roboter Gmbh | Roboteranordnung mit Handheld |
CN105852892B (zh) * | 2016-03-18 | 2019-07-16 | 东软医疗系统股份有限公司 | 医疗影像系统、驱动装置及驱动故障检测方法 |
CN107303636B (zh) * | 2016-04-19 | 2019-06-14 | 泰科电子(上海)有限公司 | 基于机器人的自动装配系统和自动装配方法 |
DE202016002733U1 (de) * | 2016-04-22 | 2017-07-26 | Kuka Roboter Gmbh | Endeffektor-Vorrichtung |
KR101898092B1 (ko) | 2016-06-17 | 2018-09-12 | 주식회사 뉴로메카 | 다자유도 로봇의 말단 제어를 위한 콘트롤러, 상기 콘트롤러를 이용한 다자유도 로봇 제어방법 및 이에 의해 동작하는 로봇 |
CN106142085A (zh) * | 2016-08-04 | 2016-11-23 | 上海铼钠克数控科技股份有限公司 | 工业机器人的控制方法及控制系统 |
DE102016222675C5 (de) * | 2016-11-17 | 2022-03-31 | Kuka Deutschland Gmbh | Roboterbedienhandgerät, zugehörige Kopplungsvorrichtung, Roboter und Verfahren |
IT201800005091A1 (it) | 2018-05-04 | 2019-11-04 | "Procedimento per monitorare lo stato di funzionamento di una stazione di lavorazione, relativo sistema di monitoraggio e prodotto informatico" | |
JP6836564B2 (ja) * | 2018-10-05 | 2021-03-03 | ファナック株式会社 | センサブラケットおよびロボットシステム |
FR3101564B1 (fr) * | 2019-10-08 | 2023-07-28 | Fts Welding | Dispositif collaboratif à pilotage optimisé |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2705410C2 (de) * | 1977-02-09 | 1985-06-13 | Robert Bosch Gmbh, 7000 Stuttgart | Vorrichtung zum Absaugen von Bohrklein an einer Handwerkzeugmaschine |
US4367532A (en) | 1979-10-12 | 1983-01-04 | Nordson Corporation | Manually programmable robot with power-assisted motion during programming |
JPS5685106A (en) | 1979-12-14 | 1981-07-11 | Hitachi Ltd | Robot teaching method |
DE3240251A1 (de) | 1982-10-30 | 1984-05-03 | Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln | Verfahren zum programmieren von bewegungen und erforderlichenfalls von bearbeitungskraeften bzw. -momenten eines roboters oder manipulators und einrichtung zu dessen durchfuehrung |
SE8306520L (sv) * | 1983-11-25 | 1985-05-26 | Asea Ab | Fluidflodesstyrning vid industrirobot |
IT1239878B (it) * | 1990-02-02 | 1993-11-15 | Fiat Auto Spa | Sistema per la rilevazione dei parametri di movimento di robot industriali e simili. |
US5495410A (en) | 1994-08-12 | 1996-02-27 | Minnesota Mining And Manufacturing Company | Lead-through robot programming system |
CN1060715C (zh) | 1995-09-14 | 2001-01-17 | 株式会社安川电机 | 机器人的示教装置 |
US6385508B1 (en) | 2000-10-31 | 2002-05-07 | Fanuc Robotics North America, Inc. | Lead-through teach handle assembly and method of teaching a robot assembly |
US7181314B2 (en) | 2003-11-24 | 2007-02-20 | Abb Research Ltd. | Industrial robot with controlled flexibility and simulated force for automated assembly |
-
2005
- 2005-05-20 DE DE602005013193T patent/DE602005013193D1/de active Active
- 2005-05-20 EP EP05010949A patent/EP1724072B1/de not_active Not-in-force
- 2005-05-20 AT AT05010949T patent/ATE424976T1/de not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
ATE424976T1 (de) | 2009-03-15 |
EP1724072A1 (de) | 2006-11-22 |
EP1724072B1 (de) | 2009-03-11 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition |