DK2392435T3 - Arbejdsemne-håndteringssystem og fremgangsmåde til manipulering af arbejdsemner ved hjælp af samarbejdende manipulatorer - Google Patents

Arbejdsemne-håndteringssystem og fremgangsmåde til manipulering af arbejdsemner ved hjælp af samarbejdende manipulatorer Download PDF

Info

Publication number
DK2392435T3
DK2392435T3 DK11168345.4T DK11168345T DK2392435T3 DK 2392435 T3 DK2392435 T3 DK 2392435T3 DK 11168345 T DK11168345 T DK 11168345T DK 2392435 T3 DK2392435 T3 DK 2392435T3
Authority
DK
Denmark
Prior art keywords
handling system
workpiece handling
manipulating workpieces
manipulators
cooperating
Prior art date
Application number
DK11168345.4T
Other languages
English (en)
Inventor
Rainer Bischoff
Tim Guhl
Johannes Kurth
Günther Schreiber
Ruben Smits
Herman Bruyninckx
Original Assignee
Kuka Deutschland 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 Kuka Deutschland Gmbh filed Critical Kuka Deutschland Gmbh
Application granted granted Critical
Publication of DK2392435T3 publication Critical patent/DK2392435T3/da

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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • 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
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • 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
    • G05B2219/36432—By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39121—Two manipulators operate on same object
    • 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
    • G05B2219/39122—Follower, slave mirrors leader, master
    • 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
    • G05B2219/39124—Grasp common rigid object, no movement end effectors relative to object

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Feeding Of Workpieces (AREA)
DK11168345.4T 2010-06-07 2011-06-01 Arbejdsemne-håndteringssystem og fremgangsmåde til manipulering af arbejdsemner ved hjælp af samarbejdende manipulatorer DK2392435T3 (da)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010029745A DE102010029745A1 (de) 2010-06-07 2010-06-07 Werkstück-Handhabungssystem und Verfahren zum Manipulieren von Werkstücken mittels kooperierender Manipulatoren

Publications (1)

Publication Number Publication Date
DK2392435T3 true DK2392435T3 (da) 2021-03-22

Family

ID=44834984

Family Applications (1)

Application Number Title Priority Date Filing Date
DK11168345.4T DK2392435T3 (da) 2010-06-07 2011-06-01 Arbejdsemne-håndteringssystem og fremgangsmåde til manipulering af arbejdsemner ved hjælp af samarbejdende manipulatorer

Country Status (3)

Country Link
EP (1) EP2392435B1 (da)
DE (1) DE102010029745A1 (da)
DK (1) DK2392435T3 (da)

Families Citing this family (56)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9452276B2 (en) 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
US20130303944A1 (en) 2012-05-14 2013-11-14 Intuitive Surgical Operations, Inc. Off-axis electromagnetic sensor
DE202012101834U1 (de) * 2012-05-18 2013-08-20 Kuka Systems Gmbh Montageeinrichtung
DE102012015756A1 (de) 2012-08-08 2013-03-21 Daimler Ag Verfahren zum Manipulieren zumindest eines Obiekts mittels wenigstens zweier Roboter
US20140148673A1 (en) 2012-11-28 2014-05-29 Hansen Medical, Inc. Method of anchoring pullwire directly articulatable region in catheter
DE102013218823A1 (de) * 2013-09-19 2015-04-02 Kuka Laboratories Gmbh Verfahren zum manuell geführten Verstellen der Pose eines Manipulatorarms eines Industrieroboters und zugehöriger Industrieroboter
DE102013220798A1 (de) 2013-10-15 2015-04-16 Kuka Laboratories Gmbh Verfahren zum Handhaben von Objekten mittels wenigstens zweier Industrieroboter, und zugehöriger Industrieroboter
CN111166274A (zh) 2013-10-24 2020-05-19 奥瑞斯健康公司 机器人辅助腔内外科手术系统及相关方法
US9980785B2 (en) 2013-10-24 2018-05-29 Auris Health, Inc. Instrument device manipulator with surgical tool de-articulation
DE202013105677U1 (de) * 2013-12-13 2015-03-13 Kuka Systems Gmbh Arbeitsvorrichtung
DE102014204475A1 (de) * 2014-03-11 2015-09-17 Kuka Systems Gmbh Verfahren zum Betreiben eines Roboters
DE102014204452A1 (de) * 2014-03-11 2015-09-17 Kuka Systems Gmbh Verfahren zum Betreiben eines Roboters und zugehöriger Robotermit einer mechanischen Tastvorrichtung
EP3243476B1 (en) 2014-03-24 2019-11-06 Auris Health, Inc. Systems and devices for catheter driving instinctiveness
JP5893664B2 (ja) 2014-04-14 2016-03-23 ファナック株式会社 作用された力に応じて移動されるロボットを制御するロボット制御装置
JP5893666B2 (ja) * 2014-04-14 2016-03-23 ファナック株式会社 力に応じて動かすロボットのロボット制御装置およびロボットシステム
DE102014207275A1 (de) * 2014-04-15 2015-10-15 Kuka Systems Gmbh Robotervorrichtung mit einer Linearachse
US9788910B2 (en) 2014-07-01 2017-10-17 Auris Surgical Robotics, Inc. Instrument-mounted tension sensing mechanism for robotically-driven medical instruments
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
DE102014216514B3 (de) 2014-08-20 2015-09-10 Kuka Roboter Gmbh Verfahren zum Programmieren eines Industrieroboters und zugehöriger Industrieroboter
KR102292155B1 (ko) * 2014-09-30 2021-08-25 아우리스 헬스, 인크. 가상 레일 및 가요성 내시경을 구비하는 구성 변경 가능한 로봇 수술 시스템
US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
DE102015205176B3 (de) * 2015-03-23 2016-05-12 Kuka Roboter Gmbh Robustes intuitives Bedienverfahren durch Berührung eines Manipulators
EP4137034A1 (en) 2015-09-09 2023-02-22 Auris Health, Inc. Instrument device manipulator for a surgical robotics system
US9408452B1 (en) * 2015-11-19 2016-08-09 Khaled A. M. A. A. Al-Khulaifi Robotic hair dryer holder system with tracking
JP6706489B2 (ja) 2015-11-24 2020-06-10 川崎重工業株式会社 ロボットのダイレクト教示方法
US10143526B2 (en) 2015-11-30 2018-12-04 Auris Health, Inc. Robot-assisted driving systems and methods
CN105751197B (zh) * 2016-04-26 2017-10-03 哈尔滨工程大学 一种用于主从姿态控制的辅助机构及控制方法
WO2018001472A1 (en) 2016-06-29 2018-01-04 Abb Schweiz Ag An industrial robot system comprising a dual arm robot
US9931025B1 (en) 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
WO2018091103A1 (en) * 2016-11-18 2018-05-24 Abb Schweiz Ag A robot arm system and a method for handling an object by a robot arm system during lead through programming
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
DE102017118980B4 (de) * 2017-04-23 2018-11-08 Franka Emika Gmbh Vorrichtung und Verfahren zur elektrischen Prüfung eines elektrischen Bauteils
EP3621520A4 (en) 2017-05-12 2021-02-17 Auris Health, Inc. BIOPSY APPARATUS AND SYSTEM
AU2018290831A1 (en) 2017-06-28 2019-12-19 Auris Health, Inc. Instrument insertion compensation
US10426559B2 (en) 2017-06-30 2019-10-01 Auris Health, Inc. Systems and methods for medical instrument compression compensation
US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm
US10016900B1 (en) 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
AU2018380139B2 (en) 2017-12-06 2024-01-25 Auris Health, Inc. Systems and methods to correct for uncommanded instrument roll
EP3684562A4 (en) 2017-12-14 2021-06-30 Auris Health, Inc. SYSTEM AND METHOD OF ESTIMATING THE LOCATION OF AN INSTRUMENT
EP3752085A4 (en) 2018-02-13 2021-11-24 Auris Health, Inc. SYSTEM AND METHOD FOR TRAINING A MEDICAL INSTRUMENT
JP6826069B2 (ja) 2018-04-18 2021-02-03 ファナック株式会社 ロボットの動作教示装置、ロボットシステムおよびロボット制御装置
DE102018122499A1 (de) * 2018-09-14 2020-03-19 HELLA GmbH & Co. KGaA Einrichtung mit einem ersten und einem zweiten Roboter und Verfahren zu deren Betrieb
US10765487B2 (en) 2018-09-28 2020-09-08 Auris Health, Inc. Systems and methods for docking medical instruments
DE102019102293B4 (de) * 2019-01-30 2022-02-10 Franka Emika Gmbh Koordination zweier kooperativer Robotermanipulatoren
DE102019102470B4 (de) * 2019-01-31 2021-08-26 Franka Emika Gmbh Einlernvorgang für ein Robotersystem bestehend aus zwei Robotermanipulatoren
DE102019102427B4 (de) * 2019-01-31 2022-02-10 Franka Emika Gmbh Koordination von Bahnen zweier Robotermanipulatoren
US20220258355A1 (en) * 2019-08-02 2022-08-18 Dextrous Robotics, Inc. Systems and method for robotics control under contact
DE102019216229B4 (de) * 2019-10-07 2022-11-10 Robert Bosch Gmbh Vorrichtung und Verfahren zum Steuern einer Robotervorrichtung
DE102019216560B4 (de) * 2019-10-28 2022-01-13 Robert Bosch Gmbh Verfahren und Vorrichtung zum Trainieren von Manipulationsfertigkeiten eines Robotersystems
DE102019135810B3 (de) * 2019-12-27 2020-10-29 Franka Emika Gmbh Erzeugung eines Steuerprogramms für einen Robotermanipulator
WO2021137109A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Alignment techniques for percutaneous access
EP4084722A4 (en) 2019-12-31 2024-01-10 Auris Health, Inc. ALIGNMENT INTERFACES FOR PERCUTANE ACCESS
JP2023508521A (ja) 2019-12-31 2023-03-02 オーリス ヘルス インコーポレイテッド 解剖学的特徴の識別及び標的化
DE102020107612B3 (de) 2020-03-19 2021-09-16 Franka Emika Gmbh Adaptive Eingabevorrichtung
WO2023205176A1 (en) 2022-04-18 2023-10-26 Dextrous Robotics, Inc. System and/or method for grasping objects
CN117601117B (zh) * 2023-11-02 2024-05-24 同济大学 一种基于协同阻抗的多机器人协调搬运控制方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4826392A (en) * 1986-03-31 1989-05-02 California Institute Of Technology Method and apparatus for hybrid position/force control of multi-arm cooperating robots
JP2667153B2 (ja) * 1986-07-29 1997-10-27 松下電器産業株式会社 複腕装置の直接教示方法
US5023808A (en) * 1987-04-06 1991-06-11 California Institute Of Technology Dual-arm manipulators with adaptive control
DD277230A1 (de) * 1988-11-23 1990-03-28 Adw Ddr Kybernetik Inf Zweiarmiger industrieroboter
JP3783253B2 (ja) * 1995-09-20 2006-06-07 株式会社安川電機 複数ロボットの同調制御方法
DE10314025B4 (de) 2003-03-28 2010-04-01 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern einer Mehrzahl von Handhabungsgeräten
US6804580B1 (en) * 2003-04-03 2004-10-12 Kuka Roboter Gmbh Method and control system for controlling a plurality of robots
WO2004114037A2 (en) * 2003-06-20 2004-12-29 Fanuc Robotics America, Inc. Multiple robot arm tracking and mirror jog
EP1987406B1 (en) * 2006-02-23 2010-08-04 Abb Ab A system for controlling the position and orientation of an object in dependence on received forces and torques from a user
DE102008027008B4 (de) * 2008-06-06 2016-03-17 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern eines Manipulators

Also Published As

Publication number Publication date
EP2392435B1 (de) 2020-12-23
DE102010029745A1 (de) 2011-12-08
EP2392435A2 (de) 2011-12-07
EP2392435A3 (de) 2013-05-01

Similar Documents

Publication Publication Date Title
DK2392435T3 (da) Arbejdsemne-håndteringssystem og fremgangsmåde til manipulering af arbejdsemner ved hjælp af samarbejdende manipulatorer
DK3038799T3 (da) Fremgangsmåde og system til bestemmelse af mindst én egenskab ved en mani-pulator
EP3305474A4 (en) CONSTRUCTION PROCESS WITH PARALLEL ROBOTS WITH MULTIPLE MOVEMENT PLATFORM AND PARALLEL ROBOT FOR THIS
PL2646210T3 (pl) Układ, maszyna oraz sposób zautomatyzowanego wytwarzania betonowego elementu konstrukcyjnego
PL2665582T3 (pl) Rewolwerowa głowica narzędziowa do obróbki elementów i system obróbki za pomocą rewolwerowej głowicy narzędziowej
GB201113715D0 (en) Method and apparatus for inspecting workpieces
EP2937622A4 (en) TUBE INSPECTION ROBOT AND METHOD OF INSPECTION OF TUBES
IL228458A0 (en) Method and system for cooling sustainable industrial processes
EP2771745A4 (en) SYSTEM AND METHOD FOR MANAGING INDUSTRIAL PROCESSES
DK2472265T3 (da) Automatiseret system og fremgangsmåde til forarbejdning af biologiske prøver
EP2599106A4 (en) METHOD AND SYSTEM FOR PROVIDING PROCESS TOOL CORRECTIONS
DK3119143T3 (da) Fremgangsmåde og indretning til håndtering af et celleskift
EP2897760A4 (en) METHOD AND APPARATUS FOR WORK MACHINING
DK2629939T3 (da) Fremgangsmåde til filtrering af målobjektbilleder i et robotsystem
SI2476637T1 (sl) Naprava in postopek za sprejem, držanje in/ali manipuliranje ploščatih predmetov
EP2547491A4 (en) DEVICE AND METHOD FOR TAKING AND RELEASING OBJECTS
GB201218594D0 (en) Apparatus for and method of handling workpieces
EP3180598A4 (en) System and method for analyzing dusty industrial off-gas chemistry
EP2692471A4 (en) REINFORCED WELDING TOOL AND REINFORCING WELDING PROCESS THEREFOR
DK2342608T3 (da) Industrirobot og fremgangsmåde til programmering af en industrirobot
DK2640493T3 (da) Anordning og metode til køletørring af en gas
SG11201500378XA (en) Apparatus and methods for handling workpieces of different sizes
DK2625259T3 (da) Fremgangsmåde og indretning især til mæskning ved fremstilling af øl
DK2522471T3 (da) Håndteringsindretning og fremgangsmåde til at hæve et pladeformet emne
EP2737928A4 (en) PROCESS FOR PROCESSING SOLID WASTE AND DEVICE FOR CARRYING OUT THIS METHOD