DE602005025967D1 - Steuerungsgerät zur Robotersinterferenzvermeidung - Google Patents

Steuerungsgerät zur Robotersinterferenzvermeidung

Info

Publication number
DE602005025967D1
DE602005025967D1 DE602005025967T DE602005025967T DE602005025967D1 DE 602005025967 D1 DE602005025967 D1 DE 602005025967D1 DE 602005025967 T DE602005025967 T DE 602005025967T DE 602005025967 T DE602005025967 T DE 602005025967T DE 602005025967 D1 DE602005025967 D1 DE 602005025967D1
Authority
DE
Germany
Prior art keywords
control device
interference avoidance
robot interference
robot
avoidance
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
DE602005025967T
Other languages
English (en)
Inventor
Ryo Nihei
Tetsuaki Kato
Yukinobu Tsuchida
Atsuo Nagayama
Masakazu Ichinose
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.)
Fanuc Corp
Original Assignee
Fanuc 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 Fanuc Corp filed Critical Fanuc Corp
Publication of DE602005025967D1 publication Critical patent/DE602005025967D1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39097—Estimate own stop, brake time, then verify if in safe distance
    • 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
    • G05B2219/39098—Estimate stop, brake distance in predef time, then verify if in safe distance
    • 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
    • G05B2219/40475—In presence of moving obstacles, dynamic environment

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Safety Devices In Control Systems (AREA)
DE602005025967T 2004-09-02 2005-08-31 Steuerungsgerät zur Robotersinterferenzvermeidung Active DE602005025967D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2004255881A JP3907649B2 (ja) 2004-09-02 2004-09-02 ロボット間の干渉防止制御装置

Publications (1)

Publication Number Publication Date
DE602005025967D1 true DE602005025967D1 (de) 2011-03-03

Family

ID=35431169

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602005025967T Active DE602005025967D1 (de) 2004-09-02 2005-08-31 Steuerungsgerät zur Robotersinterferenzvermeidung

Country Status (5)

Country Link
US (1) US20060052901A1 (de)
EP (1) EP1632318B1 (de)
JP (1) JP3907649B2 (de)
CN (1) CN100355540C (de)
DE (1) DE602005025967D1 (de)

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DE102014226789A1 (de) 2014-12-22 2016-07-07 Kuka Roboter Gmbh Verfahren und Manipulatoranordnung zum bedingten Anhalten zumindest eines Manipulators auf einer Bahn
CN106182040B (zh) * 2014-12-23 2021-10-15 库卡罗伯特有限公司 机器人系统
US20160180860A1 (en) * 2014-12-23 2016-06-23 Qualcomm Incorporated High order B-spline sampling rate conversion (SRC)
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JP6411964B2 (ja) * 2015-07-27 2018-10-24 ファナック株式会社 工作機械とロボットのリアルタイム干渉確認システム
DE102015113110B4 (de) 2015-08-10 2019-03-14 MAQUET GmbH Ansteuervorrichtung mindestens einer Antriebseinrichtung eines Operationstisches und Verfahren zum Ansteuern
JP6654926B2 (ja) * 2016-02-24 2020-02-26 本田技研工業株式会社 処理時間の予測方法
DE102016005026B3 (de) * 2016-04-24 2017-05-18 Sami Haddadin System und Verfahren zum Steuern eines Roboters
JP6801333B2 (ja) * 2016-09-27 2020-12-16 株式会社デンソーウェーブ ロボット用の表示システム
JP6603255B2 (ja) 2017-03-13 2019-11-06 ファナック株式会社 ロボットシステムおよびロボット制御方法
DE102017005137B4 (de) * 2017-05-30 2020-09-24 Infineon Technologies Austria Ag Stromleitungsgesteuerte elektrische Antriebsinverter
JP7013766B2 (ja) * 2017-09-22 2022-02-01 セイコーエプソン株式会社 ロボット制御装置、ロボットシステム、及び制御方法
DE102017123295A1 (de) * 2017-10-06 2019-04-11 Pilz Gmbh & Co. Kg Sicherheitssystem zur Absicherung eines kooperativen Betriebs von Menschen, Robotern und Maschinen
CN108044624A (zh) * 2017-12-11 2018-05-18 上海信耀电子有限公司 一种基于powerlink总线的机器人控制系统
EP3498433A1 (de) * 2017-12-14 2019-06-19 Universal Robots A/S Dynamische sicherheitstrajektorien in einem robotersystem
EP3807732A1 (de) 2018-06-15 2021-04-21 Universal Robots A/S Dualmodus-freilauf eines roboterarms
DE102018133472B3 (de) * 2018-12-21 2020-03-12 Franka Emika Gmbh Bewegungsüberwachung eines Robotermanipulators
CN110216675B (zh) * 2019-06-20 2021-04-06 北京猎户星空科技有限公司 智能机器人的控制方法、装置、智能机器人及计算机设备
CN111015669B (zh) * 2019-12-27 2022-03-11 南京埃斯顿机器人工程有限公司 一种工业机器人停止运动轨迹规划方法
JP7484254B2 (ja) * 2020-03-13 2024-05-16 オムロン株式会社 干渉判定装置、方法、及びプログラム
TW202233369A (zh) * 2021-02-18 2022-09-01 日商發那科股份有限公司 機器人控制裝置、機器人控制系統、及電腦程式
CN113334392B (zh) * 2021-08-06 2021-11-09 成都博恩思医学机器人有限公司 一种机械臂防碰撞方法、装置、机器人及存储介质
CN116149340B (zh) * 2023-04-23 2023-06-30 季华实验室 差速轮底盘机器人自适应路径跟随方法及其相关设备

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Also Published As

Publication number Publication date
CN1743148A (zh) 2006-03-08
US20060052901A1 (en) 2006-03-09
JP3907649B2 (ja) 2007-04-18
CN100355540C (zh) 2007-12-19
EP1632318A2 (de) 2006-03-08
EP1632318B1 (de) 2011-01-19
EP1632318A3 (de) 2009-08-12
JP2006068857A (ja) 2006-03-16

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Legal Events

Date Code Title Description
8327 Change in the person/name/address of the patent owner

Owner name: FANUC CORPORATION, YAMANASHI, JP