DK3261808T3 - Indretning og fremgangsmåde til styring og regulering af en robotmanipulator - Google Patents

Indretning og fremgangsmåde til styring og regulering af en robotmanipulator Download PDF

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Publication number
DK3261808T3
DK3261808T3 DK16702919.8T DK16702919T DK3261808T3 DK 3261808 T3 DK3261808 T3 DK 3261808T3 DK 16702919 T DK16702919 T DK 16702919T DK 3261808 T3 DK3261808 T3 DK 3261808T3
Authority
DK
Denmark
Prior art keywords
regulating
controlling
robot manipulator
manipulator
robot
Prior art date
Application number
DK16702919.8T
Other languages
English (en)
Inventor
Sami Haddadin
Original Assignee
Kastanienbaum 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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=55300496&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=DK3261808(T3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Kastanienbaum GmbH filed Critical Kastanienbaum GmbH
Application granted granted Critical
Publication of DK3261808T3 publication Critical patent/DK3261808T3/da

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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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • 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
    • G05B2219/39343—Force based impedance control
    • 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
    • G05B2219/39346—Workspace impedance control
    • 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
    • G05B2219/39347—Joint space impedance control
    • 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
    • G05B2219/39348—Generalized impedance control
    • 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
    • G05B2219/39467—Select hand as function of geometric form of hand
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DK16702919.8T 2015-02-24 2016-02-02 Indretning og fremgangsmåde til styring og regulering af en robotmanipulator DK3261808T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015102642.2A DE102015102642B4 (de) 2015-02-24 2015-02-24 Vorrichtung und Verfahren zur Steuerung und Regelung eines Roboter-Manipulators
PCT/EP2016/052198 WO2016134931A1 (de) 2015-02-24 2016-02-02 Vorrichtung und verfahren zur steuerung und regelung eines roboter-manipulators

Publications (1)

Publication Number Publication Date
DK3261808T3 true DK3261808T3 (da) 2022-03-07

Family

ID=55300496

Family Applications (1)

Application Number Title Priority Date Filing Date
DK16702919.8T DK3261808T3 (da) 2015-02-24 2016-02-02 Indretning og fremgangsmåde til styring og regulering af en robotmanipulator

Country Status (8)

Country Link
US (1) US10675756B2 (da)
EP (1) EP3261808B1 (da)
JP (1) JP6501900B2 (da)
KR (1) KR102003445B1 (da)
CN (1) CN107683190B (da)
DE (1) DE102015102642B4 (da)
DK (1) DK3261808T3 (da)
WO (1) WO2016134931A1 (da)

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DE102017100101B4 (de) * 2017-01-04 2018-09-20 Deutsches Zentrum für Luft- und Raumfahrt e.V. Haptische Vorrichtung und Verfahren zur Regelung eines Aktors einer haptischen Vorrichtung
GB201707473D0 (en) * 2017-05-10 2017-06-21 Moog Bv Optimal control of coupled admittance controllers
CN108563122B (zh) * 2018-04-12 2021-03-26 江南大学 一种移动机器人速度平滑插值方法
WO2020001742A1 (en) * 2018-06-26 2020-01-02 Franka Emika Gmbh Device for controlling a robot manipulator
DE102018214257B3 (de) 2018-08-23 2019-08-01 Kuka Deutschland Gmbh Roboterregelung
CN111319036B (zh) * 2018-12-15 2023-03-14 天津大学青岛海洋技术研究院 基于自适应算法的移动机械臂位置/力自抗扰控制方法
DE102018133349A1 (de) * 2018-12-21 2020-06-25 Pilz Gmbh & Co. Kg Verfahren und Vorrichtung zur Momentschätzung
WO2020180317A1 (en) * 2019-03-06 2020-09-10 Johnson Controls Fire Protection LP Lithium battery passivation detection
EP3771522A1 (de) * 2019-07-30 2021-02-03 Siemens Aktiengesellschaft Verfahren und manipulationssystem zur manipulation eines objekts durch einen roboter mittels vektorfelder
WO2021151082A1 (en) 2020-01-24 2021-07-29 The Cleveland Clinic Foundation Hybrid control of a robotic system
DE102020104364B3 (de) * 2020-02-19 2021-05-27 Franka Emika Gmbh Steuerung eines Robotermanipulators bei Kontakt mit einer Person
CN112276954B (zh) * 2020-10-29 2021-11-09 青岛大学 基于有限时间输出状态受限的多关节机械臂阻抗控制方法
KR102642410B1 (ko) 2020-12-24 2024-03-04 부산대학교 산학협력단 원자로 내부 해체를 위한 힘 기반 임피던스 제어 시스템 및 방법
DE102021106990A1 (de) * 2021-03-22 2022-09-22 Ferrobotics Compliant Robot Technology Gmbh Kraftgeregelte Handhabungsvorrichtung für die robotergestützte Oberflächenbearbeitung
CN113814983B (zh) * 2021-10-18 2022-12-06 广东工业大学 一种多单臂机械手系统控制方法及系统
CN116766181B (zh) * 2023-05-31 2024-05-10 四川大学 一种基于全驱系统理论的机械臂主动柔顺控制方法

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Also Published As

Publication number Publication date
DE102015102642A1 (de) 2016-08-25
DE102015102642B4 (de) 2017-07-27
JP2018506439A (ja) 2018-03-08
WO2016134931A1 (de) 2016-09-01
CN107683190B (zh) 2021-01-22
KR20170131455A (ko) 2017-11-29
US10675756B2 (en) 2020-06-09
KR102003445B1 (ko) 2019-07-24
EP3261808B1 (de) 2022-01-19
US20180029228A1 (en) 2018-02-01
JP6501900B2 (ja) 2019-04-17
EP3261808A1 (de) 2018-01-03
CN107683190A (zh) 2018-02-09

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