DE69315137T2 - Verfahren zum steuern von mehreren robotern - Google Patents

Verfahren zum steuern von mehreren robotern

Info

Publication number
DE69315137T2
DE69315137T2 DE69315137T DE69315137T DE69315137T2 DE 69315137 T2 DE69315137 T2 DE 69315137T2 DE 69315137 T DE69315137 T DE 69315137T DE 69315137 T DE69315137 T DE 69315137T DE 69315137 T2 DE69315137 T2 DE 69315137T2
Authority
DE
Germany
Prior art keywords
controlling several
several robots
robots
controlling
several
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
DE69315137T
Other languages
English (en)
Other versions
DE69315137D1 (de
Inventor
Tomoyuki Terada
Atsushi Watanabe
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 DE69315137D1 publication Critical patent/DE69315137D1/de
Application granted granted Critical
Publication of DE69315137T2 publication Critical patent/DE69315137T2/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
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49143—Obstacle, collision avoiding control, move so that no collision occurs
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49153—Avoid collision, interference between tools moving along same axis

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE69315137T 1992-01-28 1993-01-18 Verfahren zum steuern von mehreren robotern Expired - Fee Related DE69315137T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP4035816A JP2895672B2 (ja) 1992-01-28 1992-01-28 複数ロボット制御方法
PCT/JP1993/000055 WO1993014910A1 (fr) 1992-01-28 1993-01-18 Procede de commande multi-robots

Publications (2)

Publication Number Publication Date
DE69315137D1 DE69315137D1 (de) 1997-12-18
DE69315137T2 true DE69315137T2 (de) 1998-03-05

Family

ID=12452467

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69315137T Expired - Fee Related DE69315137T2 (de) 1992-01-28 1993-01-18 Verfahren zum steuern von mehreren robotern

Country Status (5)

Country Link
US (1) US5561742A (de)
EP (1) EP0582715B1 (de)
JP (1) JP2895672B2 (de)
DE (1) DE69315137T2 (de)
WO (1) WO1993014910A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014222857A1 (de) * 2014-11-10 2016-05-12 Kuka Roboter Gmbh Flexibles taktzeitoptimiertes Teilen eines Arbeitsraums für Roboter
DE102006055359B4 (de) 2005-11-24 2021-07-22 Denso Wave Inc. Roboter und Verfahren zur Vermeidung einer Interferenz bei vielen Robotern

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JPH103308A (ja) * 1996-06-18 1998-01-06 Fanuc Ltd 産業用ロボットの干渉回避方法
WO1998017577A1 (fr) * 1996-10-18 1998-04-30 Kabushiki Kaisha Yaskawa Denki Vehicule robotise pour tache sur ligne sous tension
US6014145A (en) * 1997-07-07 2000-01-11 International Business Machines Corporation Navagation with optimum viewpoints in three-dimensional workspace interactive displays having three-dimensional objects with collision barriers
DE19731116A1 (de) * 1997-07-19 1999-01-28 Bosch Gmbh Robert Steuergerät für ein System und Verfahren zum Betrieb eines Steuergerätes
EP1810763B1 (de) * 1998-02-03 2009-04-15 Kabushiki Kaisha Opton Biegevorrichtung
US7390458B2 (en) * 2000-10-13 2008-06-24 Irm Llc High throughput processing system and method of using
US7114157B2 (en) * 2001-11-27 2006-09-26 Kuka Roboter Gmbh System controlling exclusive access by control programs to system resources
KR100877985B1 (ko) * 2002-04-10 2009-01-12 엘지전자 주식회사 보행로봇의 동작제어방법
US7610583B2 (en) * 2002-04-23 2009-10-27 Gateway, Inc. Personalized software installation method for computer manufacturers
US6678582B2 (en) * 2002-05-30 2004-01-13 Kuka Roboter Gmbh Method and control device for avoiding collisions between cooperating robots
DE10226140A1 (de) * 2002-06-13 2004-01-08 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Vermeiden von Kollisionen zwischen Industrierobotern und anderen Objekten
JP3928527B2 (ja) * 2002-09-13 2007-06-13 東京エレクトロン株式会社 ティーチング方法及び基板処理システム
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DE10320343B4 (de) * 2003-05-07 2008-05-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren zur überwachten Kooperation zwischen einer Robotereinheit und einem Menschen
DE10324517A1 (de) * 2003-05-28 2004-12-16 Daimlerchrysler Ag Roboter und Anlernverfahren dafür
JP3923053B2 (ja) * 2004-03-31 2007-05-30 ファナック株式会社 ロボット教示装置
DE102004024327A1 (de) * 2004-05-15 2005-12-01 Wolfgang Dr. Mergenthaler Kombinatorischer Verteil- und Sequenzier-Algorithmus von Schweisspunkten zur Kollisionsfreien und taktzeitminimalen Steuerung von Schweisszellen
DE102004027944B4 (de) * 2004-06-08 2012-02-16 Kuka Laboratories Gmbh Verfahren zum Schützen eines Roboters gegen Kollisionen
JP3907649B2 (ja) * 2004-09-02 2007-04-18 ファナック株式会社 ロボット間の干渉防止制御装置
WO2007121357A2 (en) * 2006-04-13 2007-10-25 Fanuc Robotics America, Inc. Dynamic space check for multi-arm system moving on a rail
US7211980B1 (en) 2006-07-05 2007-05-01 Battelle Energy Alliance, Llc Robotic follow system and method
US7587260B2 (en) * 2006-07-05 2009-09-08 Battelle Energy Alliance, Llc Autonomous navigation system and method
US8965578B2 (en) 2006-07-05 2015-02-24 Battelle Energy Alliance, Llc Real time explosive hazard information sensing, processing, and communication for autonomous operation
US8355818B2 (en) * 2009-09-03 2013-01-15 Battelle Energy Alliance, Llc Robots, systems, and methods for hazard evaluation and visualization
US7801644B2 (en) * 2006-07-05 2010-09-21 Battelle Energy Alliance, Llc Generic robot architecture
US7668621B2 (en) * 2006-07-05 2010-02-23 The United States Of America As Represented By The United States Department Of Energy Robotic guarded motion system and method
US7584020B2 (en) * 2006-07-05 2009-09-01 Battelle Energy Alliance, Llc Occupancy change detection system and method
US7974738B2 (en) * 2006-07-05 2011-07-05 Battelle Energy Alliance, Llc Robotics virtual rail system and method
US7620477B2 (en) * 2006-07-05 2009-11-17 Battelle Energy Alliance, Llc Robotic intelligence kernel
US8271132B2 (en) 2008-03-13 2012-09-18 Battelle Energy Alliance, Llc System and method for seamless task-directed autonomy for robots
US8073564B2 (en) * 2006-07-05 2011-12-06 Battelle Energy Alliance, Llc Multi-robot control interface
ATE459030T1 (de) * 2006-09-14 2010-03-15 Abb Research Ltd Verfahren und vorrichtung zur vermeidung von kollisionen zwischen einem industrieroboter und einem objekt
JP4298770B2 (ja) * 2007-08-28 2009-07-22 ファナック株式会社 干渉チェック機能を備えた数値制御装置
KR101012742B1 (ko) * 2007-10-31 2011-02-09 한국기계연구원 양팔 로봇 시스템의 충돌제어 방법
JP5553373B2 (ja) * 2008-03-25 2014-07-16 株式会社Ｉｈｉ ロボット装置の制御方法及びロボット装置
US9144904B2 (en) 2008-05-21 2015-09-29 Fanuc Robotics America Corporation Method and system for automatically preventing deadlock in multi-robot systems
US8315738B2 (en) * 2008-05-21 2012-11-20 Fanuc Robotics America, Inc. Multi-arm robot system interference check via three dimensional automatic zones
US8650272B2 (en) * 2008-07-16 2014-02-11 Hewlett-Packard Development Company, L.P. Distributed transaction processing system having resource managers that collaborate to decide whether to commit or abort a transaction in response to failure of a transaction manager
US8386080B2 (en) * 2009-09-15 2013-02-26 Harris Corporation Robotic apparatus implementing collision avoidance scheme and associated methods
JP5464998B2 (ja) * 2009-12-24 2014-04-09 株式会社Ｉｈｉエアロスペース ロボットアームの干渉回避方法
JP5541020B2 (ja) * 2010-09-09 2014-07-09 株式会社デンソーウェーブ ロボットの評価制御方法及びロボットの制御装置
ITTO20110994A1 (it) 2011-10-31 2013-05-01 Comau Spa Metodo per il controllo di almeno due robot aventi rispettivi spazi di lavoro includenti almeno una regione in comune
US20140067108A1 (en) * 2012-08-31 2014-03-06 The Boeing Company Systems and methods for dynamic control of task assignments in a fabrication process
US10017849B2 (en) 2012-11-29 2018-07-10 Corning Incorporated High rate deposition systems and processes for forming hermetic barrier layers
JP5872077B2 (ja) * 2013-02-06 2016-03-01 三菱電機株式会社 干渉チェック装置
JP5768829B2 (ja) * 2013-03-15 2015-08-26 株式会社安川電機 ロボットシステム、ロボット制御方法及び被加工物の製造方法
US10073434B1 (en) * 2014-07-25 2018-09-11 Jonathan Marc Hollander Manufacturing systems and methods with multiple independent toolheads
CN105446350B (zh) * 2014-09-26 2018-05-29 科沃斯机器人股份有限公司 自移动机器人移动界限划定方法
CN107003646B (zh) * 2014-11-13 2020-01-10 西门子公司 用于在产品处执行生产功能的生产模块
US10131053B1 (en) * 2016-09-14 2018-11-20 X Development Llc Real time robot collision avoidance
US10589423B2 (en) * 2018-06-18 2020-03-17 Shambhu Nath Roy Robot vision super visor for hybrid homing, positioning and workspace UFO detection enabling industrial robot use for consumer applications
DE102018133472B3 (de) * 2018-12-21 2020-03-12 Franka Emika Gmbh Bewegungsüberwachung eines Robotermanipulators
JP7147571B2 (ja) * 2019-01-15 2022-10-05 オムロン株式会社 経路生成装置、経路生成方法、及び経路生成プログラム
CN113319338B (zh) * 2021-05-20 2022-03-25 青岛理工大学 一种轨道交通蜂窝状工件夹紧力可调定位系统及铣削装备

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006055359B4 (de) 2005-11-24 2021-07-22 Denso Wave Inc. Roboter und Verfahren zur Vermeidung einer Interferenz bei vielen Robotern
DE102014222857A1 (de) * 2014-11-10 2016-05-12 Kuka Roboter Gmbh Flexibles taktzeitoptimiertes Teilen eines Arbeitsraums für Roboter

Also Published As

Publication number Publication date
DE69315137D1 (de) 1997-12-18
JP2895672B2 (ja) 1999-05-24
EP0582715A4 (en) 1994-08-24
JPH05204428A (ja) 1993-08-13
EP0582715B1 (de) 1997-11-12
WO1993014910A1 (fr) 1993-08-05
EP0582715A1 (de) 1994-02-16
US5561742A (en) 1996-10-01

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8320 Willingness to grant licences declared (paragraph 23)
8339 Ceased/non-payment of the annual fee