EP3292446A2 - Trajectory determination method for non-productive movements - Google Patents
Trajectory determination method for non-productive movementsInfo
- Publication number
- EP3292446A2 EP3292446A2 EP16732493.8A EP16732493A EP3292446A2 EP 3292446 A2 EP3292446 A2 EP 3292446A2 EP 16732493 A EP16732493 A EP 16732493A EP 3292446 A2 EP3292446 A2 EP 3292446A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- trajectory
- tool
- collision
- machine tool
- algorithm
- 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.)
- Pending
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
- B25J9/1664—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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4061—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
- G05B2219/39361—Minimize time-energy cost
-
- 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
- G05B2219/40476—Collision, planning for collision free path
Definitions
- the invention relates to a method for determining a
- a disadvantage of known machine control methods is that they are based on a comprehensive data set about the environment of the tool, the provision and processing of which requires high computing power during operation of the machine. Further, the prior art methods are based on the fact that the path for the desired movement must be provided entirely by an algorithm that approaches a merely apparent optimum through frequent iteration. This also increases the need for computing power in the known methods.
- the invention has for its object to provide a way to determine a trajectory of a Mauzeitgeber available, which overcomes the disadvantages of the prior art. There are provide a method and means for the implementation ⁇ sen, which make it like computational complexity reliably perform an optimized Mauzeitbewe ⁇ supply at gerin-. The task is solved by the method according to the invention.
- the auxiliary movement of a tool from a start position selectable by a user to an end position which can also be selected by the user or given by a CAM system takes place.
- a collision-free first trajectory for the auxiliary motion is initially made available.
- the collision-free first trajectory has no optimization on ei ⁇ NEN more extensive parameters, such as a minimum time requirement or minimum energy requirement of Mauzeitonia on.
- ⁇ a second trajectory which is improved over the first trajectory with regard to a selectable target parameters.
- the algorithm uses the DA in the start position, the target position and the existing first trajectory as input to determine the second Tra ⁇ jektorie.
- the second trajectory essentially represents a modification of the first trajectory.
- the two ⁇ te trajectory includes at least a polynom.
- the polynomial section has a shape that can be mathematically described by a polynomial.
- the method according to the invention makes it possible to reliably determine an optimized second trajectory and a corresponding instruction set for an optimized auxiliary time movement.
- the claimed method uses the Startposi ⁇ tion and the end position of the Mauzeitonia, which are already known.
- the first trajectory also serves as a exist for the algorithm and can for example be specified manually by the user.
- the first trajectory requires no optimization with respect to a target parameter and can be determined accordingly time-saving.
- a simple pathfinding method can be used, which is designed to always search for an equidistant distance transversely to the direction of movement to the limits of the travel range during a movement.
- the algorithm in the method according to the invention is suitable for determining an optimized second trajectory from a largely imprecisely predetermined first trajectory.
- Ver ⁇ drive provides low requirements on the necessary computing power and can be carried out in accordance with simple hardware.
- inventive procedural ⁇ ren can in a modification on an existing machine tool with little processing power implemented ⁇ to.
- the low demands on computing power also provide mixing facilities, to allow the process of the invention in real time running from ⁇ .
- the first trajectory comprises a plurality of rectilinear sections.
- Complex rectilinear sections leading to a collision-free trajectory can be quickly identified and determined.
- rectilinear sections can be provided by a low number of instructions of the control unit of the machine tool in order to save space.
- the method steps described above can be repeated if a collision is detected during testing of the second trajectory, that is, there is no collision freedom.
- the algorithm is modified Model of the travel range provided.
- the model of the travel range includes the points and surfaces of the work ⁇ piece, the gripping tool, a tool table and walls of the machine tool, the achievable by the tool
- the model also includes purely geometric elements such as control planes and target corridors that have no physical counterpart.
- the modi ⁇ fication of the model of the traversing range is done by reducing the achievable travel range.
- an iteration is ⁇ telt means of the algorithm ermit be increased by one.
- the iteration counter records the number of passes of the algo- rithm calls and represents a measure of the time elapsed during execution of the inventive process time.
- the Ite ⁇ rationsterrorismer is in the form of a variable in a program for operating a control unit of the machine tool being formed ⁇ . Operation beyond a threshold value by the iteration count is detected, that a maximum hinEnglish ⁇ bare time has elapsed for the present process without previously a desired collision-free optimized ⁇ te second trajectory is determined successfully.
- At least one command is determined which corresponds to the first trajectory and issued to the machine tool ⁇ .
- a program of Steuerein ⁇ ness which is located in an infinite loop, taking typi ⁇ cally accept any other user input. This can usually be counteracted only with a reset of the system. In an ongoing production process, a sol rather reset leads to a temporary standstill of the producti ⁇ onsreaes.
- the solution of a task is aborted by the algorithm, which requires an excessive amount of computation.
- the inventive method thus ensures a reliable operation of a machine tool, which is robust against unforeseen complications. An elaborate preliminary complexity estimation of a task can thus be dispensed with.
- the process of the invention avoids downtimes in a production process and increases the profitability of the machine tool.
- Fer ⁇ ner the threshold is adjustable.
- a collision of the tool is detected when a point of the second trajectory lies within an obstacle contour.
- the tool also includes the tool holder and associated machine elements of the machine tool.
- the obstacle comprises contour surfaces of obstacles in the area of the workpiece that define a inaccessible for the tool Be ⁇ rich.
- the determination of the second trajectory can take place with the inclusion of a modification of a target corridor in a selectable control plane.
- the control plane essentially represents a station to be traversed during the sub-time movement that is to be passed in the destination corridor.
- the target corridor is a spatial or area detail in the control plane.
- the course of the second trajectory is to be selected by the algorithm so that all Zielkorri ⁇ dore are traversed.
- at least one target corridor be modified by changing at least one parameter defining the target corridor. For example, this is the location of a corridor endpoint. This is the target corridor ⁇ changed in terms of size and location.
- the requi- obstacle that the second trajectory has to pass through the target ranges results in that on a return pass of the method, the position of the second trajectory is changed ⁇ changed.
- the modification of the target range is carried out in From ⁇ dependence on the position of this collision.
- the target corridor may be formed as a single contiguous surface or as a plurality of separate surfaces.
- At least one dynamic property of the machine tool can be taken into account when determining the second trajectory by the algorithm.
- a maximum acceleration, a maximum jerk, a maximum angular acceleration or angular velocity at a joint can be such a dynamic property to be considered.
- a to be avoided Direction VELOCITY ⁇ keits Championship along a movement axis of the tool can be a corresponding dynamic property also to reduce vibration loads of the machine tool.
- the erfindungsge ⁇ Permitted method is thus adaptable in a simple manner to the intended operating parameters of a machine tool. As a result, for example, excessive wear of the machine tool is avoided.
- the at least one command that corresponds to the second Trajekto ⁇ RIE type G0 or Eq In the G code system typical for NC machines, a G0 command initiates a rapid traverse of the tool. G0 commands can be interpreted easily by today ' ⁇ gen machine tools and out ⁇ leads are.
- the method according to the invention thus provides at least one command for the optimized second trajectory in a machine-native format that requires no further conversion or emulation. As a result, the Re ⁇ chenaufwand necessary for the process according to the invention is further reduced.
- the method according to the invention can store the first trajectory in the form of at least one command of the type GO in the control unit of the machine tool.
- Commands of type GO or Gl allow a user to create a first trajectory in a simple and clear way, where the start position and the end position can be easily recognized by the algorithm.
- G0 commands allow the user to quickly and clearly create the first trajectory without collision. This simplifies the handling of the method according to the invention.
- the at least one selectable target parameter is in the He ⁇ averaging the optimized second trajectory, a time requirement of the auxiliary time movement, the energy required for this requirement, the power loss, or a wear of the tool or a drive means of the machine tool.
- Age ⁇ natively a weighted combination of a plurality can be set Lucas- of individual target parameters as optimization targets.
- the method according to the invention can thus be adapted to a large number of requirements or combinations of requirements.
- the claimed method is IMP EXP ⁇ including flexible and has a wide range of operation.
- the invention also relates to a program which can be stored and executed by a processor.
- the claimed program is designed to implement at least one of the methods described above in a control unit of a machine tool.
- the program according to the invention is platform-independent and can be installed on a large number of control units for machine tools.
- the program according to the invention requires only ge ⁇ rings computing power, making egg for modification ner existing machine tool suitable.
- the low demand for computing power means that the claimed program can be executed on powerful control units essentially in real time.
- the invention further relates to a control unit for a machine tool, which comprises a memory and a processor. These are designed to store and execute the program described above.
- the control unit according to the invention is compatible with a multiplicity of existing ⁇ the machine tools and is particularly suitable for their modification or upgrade.
- FIG. 1 shows schematically a sequence of the method according to the invention in a first embodiment
- FIG. 2 schematically shows a detail of a sequence of the method according to the invention in a second embodiment
- 3 shows a flowchart of a third embodiment of the method according to the invention.
- a displacement region 22 is shown, in which a tool 10 performs an auxiliary movement 16 by means of the method 100 according to the invention.
- 1 shows a total of a two-dimensional projection of a three-dimensional movement in the travel range 22.
- a workpiece 20 and grips 25 angeord ⁇ net in addition to the tool 10, the net for the tool 10 respectively obstacles 26 depicting ⁇ len.
- the further attachment of the grips 25 is not shown in detail in FIG.
- the individual obstacles 26 have each have a plurality of outer surfaces, which form a continuous obstacle contour 28 in the area of the workpiece 20.
- the workpiece 20, the grips 25 and Ausneh ⁇ determination 24 have on their surface edges 23, which are relevant to the obstacle contour to be considered 28.
- Information about the position of the workpiece 20, the gripping tool 25, the obstacle contour 28 and the edges 23 belong to a model 27 of the travel range 22, which is based on the algorithm 48 not shown nä ⁇ forth in FIG.
- the first trajectory 30 of the auxiliary time movement 16, which extends from a start position 12 to a target position 14.
- the starting position 12 and the target position 14 are each in the region of a recess 24.
- the first trajectory 30 consists essentially of rectilinear sections 32, are connected to each other at transition points 34. At the transition points 34 occur rapid changes in direction of the tool 10, which are associated with increased wear. Overall, the first trajectory 30 is performed along the same main movement direction 18 as the second trajectory 40.
- the second trajectory 40 comprises a polynomial section 42, which essentially has a continuous shape, that is to say is free from kinking.
- the second trajectory 40 is determined by the algorithm 48, starting from the first trajectory 30 and the predetermined start position 12 and the end position 14. Furthermore, it is checked in the claimed method 100 whether there is collision freedom at all points of the second trajectory 40. Furthermore, the optimization of the position of the second trajectory 40 in the region of the points 55, which lie respectively in the control planes 36, intersect.
- the control planes 36 are substantially perpendicular to the main movement direction 18 of the auxiliary movement 16 and each extend from an edge 23 of the obstacles 26 from the obstacle contour 28 in the travel range 22.
- the second trajectory 40 extends in the region of the starting position 12, ie the recess 24, essentially tangential to the first trajectory 30. Similarly, extending the second trajectory 40 in the area of the end position 14, where there is also a recess 24 is substantially tangent 30 to the first Trajekto ⁇ rie Overall, the addition time movement leads 16, the tool 10 with a minimum of transverse to polynom 42 acting In addition to saving time compared to the first trajectory 30 of the wear of the bearing and the drives of the tool 10 is reduced by rapid changes in direction at the transition points 34 of the first trajectory 30 can be avoided.
- FIG 2 in a cutout of a second embodiment of the method 100 according to the invention is shown, in which the algorithm not shown in detail is called 48 in several Naturalläu ⁇ fen 44, 46th
- the embodiment shown is used to carry out an auxiliary movement of a tool 10 in a machine tool 50.
- the method 100 is carried out in a travel range 22, in which obstacles (not shown) 26 with an obstacle contour 28 and edges 23 are arranged.
- the traversing area 22 is essentially the same as the traversing area 22 in FIG. 1 formed.
- the algorithm 48 determines a second trajectory 40, which is based on a model 27 of the travel range 22 with control planes 36 with target corridors 37, 53.
- the method 100 in FIG 2 is a two-dimensional projek ⁇ tion of a three-dimensional movement.
- the control planes 36 each terminate at an edge 23 which belongs to an obstacle 26 in the travel range 22.
- a control plane 36 is a first target corridor 37 bounded by first and second corridor endpoints 38, 39. The distance between the corridor end points 38, 39 determines the size of the first target corridor 37.
- a point 55 on the second trajectory 40 from the first pass 44 lies in the associated control plane 36 outside the first target corridor 37, so that at the corresponding location Absence of collision lies.
- the second trajectory 40 from the first pass 44 passes another control plane 36 at the punk 55.
- the algorithm 48 is based on a modified model 29 of the travel range 22 and its control planes 36 and target corridors 37, 57.
- the modified second target band 57 comprises two corridor end points 58, 59, which are outside the Zielkorri ⁇ dors 53, based on the model 27 of the traverse 22 from the first run 44th.
- a second trajectory 40 is determined in the second pass 46, which deviates from the second trajectory 40 from the first pass 44 in their position.
- the point 55 of the second Trajekto ⁇ rie 40 also lies in the second passage 46 within the ERS th target corridor 37.
- the point 55 of the second trajectory 40 is located from the second pass 46 in the zuge culinaryi ⁇ gene control plane 36 within the modified second target corridor 57
- the first and second target corridors 37, 53 are based on the model 27, which reflects the location of the control planes 36 and the target corridors 37, 53.
- FIG. 3 shows a flow diagram of a third embodiment of the method 100.
- the shown exporting ⁇ approximate shape serves to perform an auxiliary time movement egg nes tool 10 in a machine tool 50.
- the provided first trajectory 30 is further processed by means of the algorithm 48 and an optimized on at least ei ⁇ NEN target parameters determined second trajectory 40.
- an iteration counter 52 is initialized, which represents the number of passes of the optimization step 120.
- the second trajectory 40 determined in the optimization step 120 leads from the same starting position 12 to the same target position 14 as the first trajectory 30.
- the collision checking step 130 it is ⁇ known, whether for the second trajectory 40 collision freedom in the whole to be performed auxiliary motion 16 is present.
- the further process flow branches. This is formed in FIG 2 by the branch point first 135 ⁇ . If there is no collision for all points 55 on the second trajectory 40, a setting step 140 follows. In the setting step 140, the second trajectory 40 is defined as no longer variable and at least one command for controlling the tool 10 of the machine tool 50 is based on the second trajectory 40 determined.
- the DA in the second trajectory covers 40 according to the invention Minim ⁇ least a Poylnomabites.
- the at least one command is adapted to guide the tool 10 such that he ⁇ ffente second trajectory is traversed 40th
- the at least one command is directed to a drive means of the tool 10. After determining the at least one command, the end of the procedure 200 occurs.
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP15176105.3A EP3115856A1 (en) | 2015-07-09 | 2015-07-09 | Trajectory determining method for in addition to secondary processing movements |
PCT/EP2016/063177 WO2017005453A2 (en) | 2015-07-09 | 2016-06-09 | Trajectory determination method for non-productive movements |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3292446A2 true EP3292446A2 (en) | 2018-03-14 |
Family
ID=53525141
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15176105.3A Withdrawn EP3115856A1 (en) | 2015-07-09 | 2015-07-09 | Trajectory determining method for in addition to secondary processing movements |
EP16732493.8A Pending EP3292446A2 (en) | 2015-07-09 | 2016-06-09 | Trajectory determination method for non-productive movements |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15176105.3A Withdrawn EP3115856A1 (en) | 2015-07-09 | 2015-07-09 | Trajectory determining method for in addition to secondary processing movements |
Country Status (4)
Country | Link |
---|---|
US (1) | US10513034B2 (en) |
EP (2) | EP3115856A1 (en) |
CN (1) | CN107850885B (en) |
WO (1) | WO2017005453A2 (en) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104391481B (en) * | 2014-10-29 | 2018-01-23 | 北京配天技术有限公司 | Machining movement locus space detection method, device and Digit Control Machine Tool |
EP3819088B1 (en) * | 2019-11-07 | 2022-04-06 | Siemens Aktiengesellschaft | Method for determining a safety area and for routing robots |
DE102021121398A1 (en) | 2021-08-18 | 2023-02-23 | Open Mind Technologies Ag | Method for determining a machining path and method for machining a workpiece using a multi-axis machining center |
US20230123463A1 (en) * | 2021-10-15 | 2023-04-20 | Fanuc Corporation | Method of robotic system dynamic velocity modification |
CN116100561B (en) * | 2023-04-10 | 2023-09-05 | 国网浙江省电力有限公司宁波供电公司 | Automatic wiring track control method and system |
Family Cites Families (23)
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US6411864B1 (en) * | 1999-12-13 | 2002-06-25 | Xerox Corporation | Apparatus and method of distributed object handling |
DE10343611A1 (en) | 2003-09-20 | 2005-04-14 | Walter Ag | Numerical control of movement path of grinding head of machine tool, whereby tools and workpieces are assigned digital coordinate elements with each element defined a 0 or 1 collision parameter |
JP4647201B2 (en) * | 2003-12-05 | 2011-03-09 | 富士重工業株式会社 | Vehicle travel control device |
DE102004023848A1 (en) | 2004-05-13 | 2005-12-08 | Siemens Ag | Data carrier with a control file stored on the data carrier for a control device for a machine and associated method and device |
TWI339147B (en) * | 2004-12-31 | 2011-03-21 | Walter Maschb Gmbh | Calibration method of an erosion machine and a grinding machine |
DE102005047466B3 (en) | 2005-09-30 | 2007-07-19 | Siemens Ag | Method for optimizing the machining process in a machine |
DE102005057174A1 (en) | 2005-11-30 | 2007-05-31 | Siemens Ag | Machine e.g. machine tools, production machines or robots, has first driving device for movement of first device along guideway and second driving device for movement of second device along same guideway |
DE102005057175B4 (en) | 2005-11-30 | 2009-03-26 | Siemens Ag | Method for reducing vibrations of a machine element and / or a workpiece |
DE102005058038B3 (en) | 2005-12-05 | 2007-07-26 | Siemens Ag | Method and control device for determining the time until necessary maintenance of a machine element |
EP2051213A1 (en) | 2007-10-19 | 2009-04-22 | Siemens Aktiengesellschaft | Tool machine, production machine and/or robot |
CN101441736B (en) * | 2007-11-21 | 2010-09-15 | 新乡市起重机厂有限公司 | Path planning method of motor crane robot |
EP2189861B1 (en) | 2008-11-24 | 2012-10-31 | Siemens Aktiengesellschaft | Method for creating a part program |
DE102009054829A1 (en) | 2009-12-17 | 2011-06-22 | Siemens Aktiengesellschaft, 80333 | Method for operating machine tool, involves determining electrical energies consumed by machine and/or electric energy consumers per processing steps of machine and/or per flow of processing program from determined active electric power |
US9014850B2 (en) * | 2012-01-13 | 2015-04-21 | Toyota Motor Engineering & Manufacturing North America, Inc. | Methods and computer-program products for evaluating grasp patterns, and robots incorporating the same |
CN103009389B (en) | 2012-11-30 | 2015-07-08 | 北京控制工程研究所 | Track planning method of redundant space mechanical arm for on-track catching |
US8700307B1 (en) * | 2013-03-04 | 2014-04-15 | Mitsubishi Electric Research Laboratories, Inc. | Method for determining trajectories manipulators to avoid obstacles |
US9649765B2 (en) * | 2013-03-11 | 2017-05-16 | Siemens Aktiengesellschaft | Reducing energy consumption of industrial robots by using new methods for motion path programming |
EP2813910A1 (en) | 2013-06-10 | 2014-12-17 | Siemens Aktiengesellschaft | Handheld control unit with combined signal evaluation |
EP2853354B1 (en) | 2013-09-27 | 2018-05-16 | Siemens Aktiengesellschaft | Position control with collision avoidance, and adaptation of a machine model to the real machine |
EP2919081B1 (en) | 2014-03-14 | 2016-12-28 | Siemens Aktiengesellschaft | Processing machine taking into account position errors in collision checking |
JP6442861B2 (en) * | 2014-04-24 | 2018-12-26 | スター精密株式会社 | Machine tool and interpretation execution program |
EP2952990B1 (en) | 2014-06-06 | 2019-02-20 | Siemens Aktiengesellschaft | Optimized control of a chip-producing working machine |
DE102015000291A1 (en) * | 2015-01-10 | 2015-07-02 | Daimler Ag | Method for controlling a processing machine |
-
2015
- 2015-07-09 EP EP15176105.3A patent/EP3115856A1/en not_active Withdrawn
-
2016
- 2016-06-09 EP EP16732493.8A patent/EP3292446A2/en active Pending
- 2016-06-09 WO PCT/EP2016/063177 patent/WO2017005453A2/en active Application Filing
- 2016-06-09 US US15/742,817 patent/US10513034B2/en active Active
- 2016-06-09 CN CN201680040247.3A patent/CN107850885B/en active Active
Also Published As
Publication number | Publication date |
---|---|
WO2017005453A2 (en) | 2017-01-12 |
EP3115856A1 (en) | 2017-01-11 |
US20180207799A1 (en) | 2018-07-26 |
CN107850885A (en) | 2018-03-27 |
CN107850885B (en) | 2020-11-10 |
US10513034B2 (en) | 2019-12-24 |
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