EP3313626A1 - Procédé de planification optimisé en termes de redondance d'un fonctionnement d'un robot mobile - Google Patents

Procédé de planification optimisé en termes de redondance d'un fonctionnement d'un robot mobile

Info

Publication number
EP3313626A1
EP3313626A1 EP16727695.5A EP16727695A EP3313626A1 EP 3313626 A1 EP3313626 A1 EP 3313626A1 EP 16727695 A EP16727695 A EP 16727695A EP 3313626 A1 EP3313626 A1 EP 3313626A1
Authority
EP
European Patent Office
Prior art keywords
axis
rotation
graph
mobile robot
angle
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.)
Ceased
Application number
EP16727695.5A
Other languages
German (de)
English (en)
Inventor
Christian Scheurer
Shashank Sharma
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.)
KUKA Deutschland GmbH
Original Assignee
KUKA Roboter 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 Roboter GmbH filed Critical KUKA Roboter GmbH
Publication of EP3313626A1 publication Critical patent/EP3313626A1/fr
Ceased 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
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels

Definitions

  • the invention relates to a method for redundancy-optimized planning of an operation of a mobile robot.
  • US 5,550,953 discloses a mobile robot and a method of operating the mobile robot.
  • the mobile robot comprises a robot arm having a plurality of relatively movable members and a host vehicle to which the robot arm is attached.
  • the object of the invention is to provide an improved method for planning a movement of a mobile robot.
  • the object of the invention is achieved by a method for redundancy-optimized planning of an operation of a redundant mobile robot comprising a mobile carrier vehicle, egg ⁇ nen robot arm with a plurality of connected via joints, rotatably mounted with respect to rotation axes limbs, drives for moving the members relative to each other and having an electronic control device which is adapted to drive the actuators for the members and the carrier vehicle for a be ⁇ movement of the mobile robot, having the following method steps:
  • a Cartesian TCP coordinate system associated with a Tool Center Point associated with the robotic arm having a first TCP coordinate axis, a second TCP coordinate axis and a third TCP
  • Cartesian world coordinate system having a first world coordinate axis, a second world coordinate axis and a third world coordinate axis, wherein the first world coordinate axis and the second world coordinate axis spine a plane on which the mobile robot is moving, a height of the tool center point is associated with the plane of the third world coordinate axis, and one of the TCP coordinate axes and the plane enclose an angle,
  • the mobile robot is a redundant mobile robot, for which there are generally several possible configurations of the mobile robot for the respective positions and orientations of the tool center point in space.
  • Configuration of the mobile robot means that there are several possible positions of the robot arm for the respective positions and orientations of the tool center point and several possible positions and orientations of the carrier vehicle in the plane.
  • the positions of the robot arm he ⁇ are given by angular positions of the individual members relative to each other.
  • there are generally redundant configurations of the mobile robot for the individual locations and orientations of the tool center point in space can be expressed, for example, in the world coordinate system.
  • the orientation of the Tool Center Point can also be expressed in coordinates of the TCP coordinate system.
  • the robot arm exactly five degrees of freedom and thus as members a first member, a second member, a third member, a fourth member, a fifth member and a sixth member and as axes of rotation a first axis of rotation, a second axis of rotation, a third axis of rotation, a fourth axis ⁇ rotation and a fifth axis of rotation.
  • the mobile robot has in particular eight degrees of freedom, since the carrier vehicle comprises three degrees of freedom.
  • the first axis of rotation, the second axis of rotation ⁇ and the fourth axis of rotation extend horizontally and the fifth axis of rotation vertically.
  • the second member is rela ⁇ tiv mounted to the first member rotatable relative to the first axis of rotation
  • the second member follows the third member to the third member rotatably mounted relative to the second member relative to the second axis of rotation
  • the fourth link is re ⁇ tively to third member relative to the third axis of rotation, which is perpendicular to the second axis of rotation rotatably mounted and includes a fastening device for attaching a tool or the tool
  • the sixth member is fixedly secured to the carrier vehicle or represents the carrier ⁇ vehicle
  • the fifth member is relative to rotatably mounted sixth member with respect to the fifth axis of rotation
  • the first member is rotatably mounted relative to the fifth member with respect to the fourth axis of rotation.
  • the third TCP coordinate axis preferably extends in the direction of the
  • the robot arm can also just four degrees of freedom alswei ⁇ sen. Then, the robot arm has as members a first member, a second member, a third member, a fourth member, and a fifth member, and as rotation axes, a first rotation axis, a second rotation axis, a third rotation axis, and a fourth rotation axis.
  • the first axis of rotation, the second axis of rotation and the fourth axis of rotation extend horizontally.
  • the second member is mounted relative to the first member rotatable relative to the first axis of rotation
  • the second Member follows the third member
  • the third member is rotatably ⁇ relative to the second member with respect to the second axis of rotation rotatably mounted
  • the fourth member is rotatable relative to the third member relative to the third axis of rotation, which is perpendicular to the second axis of rotation, and comprises ei ⁇ ne fastening device for attaching a tool or tool
  • the fifth member is fixedly secured to the carrier vehicle represents the carrier vehicle.
  • the third TCP coordinate axis extends in the direction of the third axis of rotation and closes with the plane of the angle.
  • the mobile carrier vehicle preferably includes wheels and at ⁇ gear for driving the wheels.
  • the elekt ⁇ tronic control device is adapted to control the drives for the wheels for moving the carrier vehicle.
  • the carrier vehicle may also have legs or be designed as a magnetic levitation transport vehicle.
  • the carrier vehicle is preferably designed as an omnidirectionally movable carrier vehicle (holonomic platform).
  • the wheels of the carrier vehicle are designed as omnidirectional wheels.
  • An example of an omnidirectional wheel is the Mecanum wheel known to those skilled in the art. Because of the omnidirectional wheels, the mobile robot according to the invention or its carrier vehicle is allowed to move freely in space.
  • the carrier vehicle can not only move forwards, backwards or sideways or travel curves, but also rotate, for example, about a vertically oriented axis.
  • the at least one graph is used in which as a function of the height and the angle the redundancy is represented, which is a measure of possible configurations of the mobile robot depending on the height and the angle is.
  • the at least one graph is e.g. a first graph, wherein the height, the angle and the redundancy form a three-dimensional Cartesian coordinate system in which the redundancy as a function of the height and the angle is shown as the first graph. This results in a graphical mountain range in which the redundancy for different heights of the tool center point and the angle can be read relatively easily.
  • the redundancy in the first graph is marked differently in color or by gray levels.
  • the at least one graph is a second graph in which the height is represented as a function of the angle and the redundancy in the second graph is different, in particular differently colored or marked by gray levels, by the redundancy as a function of the height and the angle.
  • the second graph is a saudimensio ⁇ cal graph, in which preferably the height and the angle along corresponding coordinate axes are applied, which are perpendicular to each other.
  • the second graph shows in particular the height as a function of the angle.
  • the second graph is marked differently, for example by illustrating the redundancy in color or by different gray levels.
  • the second graph is in particular a plan view of the first graph.
  • relatively simple (Z; ß) pairs or (Z; ß) pairs can be determined with relatively high redundancy.
  • the inventive method may comprise the following additional Ver ⁇ method steps: - Prepare a course of a track in the six-dimensional
  • Train with the second graph Determine if the planned lane can be run by the mobile robot.
  • the planning in six-dimensional space takes place, in particular, in coordinates of the world coordinate system (world coordinates) and possibly also in the TCP coordinate system.
  • the inventive method may comprise the following additional Ver ⁇ method steps:
  • the method according to the invention can comprise method steps: determining an angle
  • FIG. 1 shows a mobile robot, comprising a carrier vehicle and a fastened to the carrier vehicle Robo ⁇ terarm
  • Figure 2 is a world coordinate system
  • FIGS. 3, 4 each show a graph
  • FIGS. 5, 6 are illustrations for checking the
  • Figure 7 is an illustration for changing the course of a planned course
  • Figure 8 is an illustration for planning a
  • Fig. 1 shows a mobile robot 1, which in the case of the present embodiment has an omni-directional Move ⁇ bares carrier vehicle 2.
  • This example includes a vehicle main body 3 and a plurality of rotatably mounted on the vehicle body 3 wheels 4, which are as omnidirectional Ra ⁇ the formed.
  • the carrier vehicle 2 has four omnidirectional wheels 4.
  • all wheels 4 are each driven by a drive.
  • the drives not shown in more detail are preferably electric drives, in particular regulated electric drives, and are provided with a control unit arranged in or on the vehicle body 3, for example.
  • Device 5 is connected, which is arranged to move the Trä ⁇ ger poverty 2 by appropriately driving the drives for the wheels 4.
  • each of the wheels 4 designed as an omnidirectional or Mecanum wheel has two wheel discs which are rigidly connected to one another and between which a plurality of rolling bodies are rotatably mounted with respect to their longitudinal axes.
  • the two wheel discs can be rotatably mounted with respect to a rotation axis and driven by one of the drives of the carrier vehicle 2 such that the two wheel discs rotate with respect to the axis of rotation.
  • the mobile robot 1 or its carrier vehicle 2 can not only move forwards, backwards or sideways or drive curves, but also rotate about any vertically aligned axis.
  • the mobile robot 1 comprises a robot arm 6, which is designed as a serial kinematics and has a plurality of elements arranged one behind the other, which are connected to joints, so that the individual members are mounted rotatably relative to each other with respect to axes of rotation.
  • the Ro ⁇ boterarm 6 five degrees of freedom and comprises a first member 11, second member 12, third member 13, fourth member 14, a fifth member 15, and a sixth member 16 and a first rotational axis 21 , a second axis of rotation 22, a third rotation axis 23, a fourth rotation axis 24 and a fifth rotation axis 25.
  • first rotation axis 21 and the second rotation axis 22 extend horizontally.
  • the second member 12 is in particular a cantilever and is rotatably mounted relative to the first member 11 with respect to the first axis of rotation 21.
  • the second member 12 is followed by the third member 13.
  • the third member 13 is rotatably supported relative to the second member 12 with respect to the second axis of rotation 22.
  • the fourth member 14 is rotatably supported relative to the third member 13 with respect to the third rotation axis 23.
  • the third rotation axis 23 extends perpendicular to the second rotation axis 22.
  • the fourth element 14 may comprise a fastening device for fastening a tool 7. In the case of the present exemplary embodiment, however, the tool 7 is part of the fourth link 14.
  • the fourth link 14 is one of the ends of the robot arm 6.
  • the robot arm 6 does not include the fourth member 14 and that the third member 13 comprising the Fixed To ⁇ constriction device or tool. 7
  • the third member 13 is one of the ends of the robot arm 6.
  • the first member 11 is rotatably supported relative to the fifth member 15 with respect to the fourth axis of rotation 24.
  • the fourth rotary ⁇ axis 24 extends horizontally.
  • the sixth member 16 is in particular a frame of the Robo ⁇ terarms 6, with which the robot arm 7 is fixed to the vehicle body. 3
  • the frame is one of the ends of the Robo ⁇ terarms. 6 it is also possible that the carrier vehicle 2, the frame, that is the sixth member forms sixteenth
  • the fifth member 15 is in particular a relative to the frame about the fifth axis of rotation 25 rotatably mounted carousel.
  • the fifth axis of rotation 25 is vertical.
  • the carrier vehicle 2 is in the case of the present example approximately exporting ⁇ omnidirectionally movable, which is why the carrier vehicle 2 can also rotate about the fifth rotation axis 25th It can also be provided that the first member 11 directly follows the frame, ie relative to the frame be ⁇ delay of the fourth axis of rotation 24 is rotatably mounted. In this case, the robot arm 7 does not include a carousel.
  • the mobile robot 1 further comprises drives connected to the control device 5.
  • the drives are in the exemplary embodiment electric drives, the special ⁇ regulated electric drives. At least the Mo ⁇ gates of these electric drives are arranged in or on the robot arm. 6
  • the CON ⁇ ervorraum 5 the drives of the mobile robot 1, that is, the actuators drives for moving the limbs of the robot arm 6 and the drives for moving the wheels 4 such that the robot arm 6 associated with so-called Tool Center Point 8 a predetermined target position, if necessary, ⁇ also takes a target orientation in space or the Tool Center Point 8 automatically moves on a predetermined path.
  • the Ro ⁇ boterarm 6 five degrees of freedom.
  • the entire mobile Robo ⁇ ter 1 thus comprises eight degrees of freedom, since the carrier generating driving ⁇ 2 includes three degrees of freedom.
  • the position of the tool 7 or of the tool center point 8 can be determined in coordinates of a world coordinate system K w shown in FIG. 2.
  • the world coordinate system K w is a Cartesian coordinate system with the world coordinate axes X W , Y w , W w and an origin U w .
  • the world coordinate system K w is stationary.
  • the world coordinate system is ⁇ K w is set such that its X W - and Y w -Weltkoordinaten span a plane E XY on which the mobile robot 1 moves.
  • the coordinate of the Z W world coordinate axis thus gives the height Z of the tool center point 8 of the plane E XY on which the mobile robot 1 moves.
  • the orientation of the tool center point 8 can be determined by angular coordinates of the world coordinate system K w .
  • the tool 7 or the center point tool is a 8 likewise shown in FIG. 2 TCP coordinate system K TC p ⁇ ordered to, the origin in the Tool Center Point 8.
  • the TCP coordinate system K TC p is a Cartesian coordinate system with the TCP coordinate axes X TC P, YT C P, Z TC p.
  • the Z TC p TCP coordinate axis is perpendicular to the second axis of rotation 22 or runs in the direction of the third axis of rotation 23, that is to say quasi "in the direction of impact" of the tool 7.
  • the orientation of the tool center point 8 with respect to the world coordinate system K w can also be determined by means of the TCP coordinate system K TC p.
  • the TCP coordinate axes Z TC p and the plane E XY include an angle ⁇ .
  • ei ⁇ ne automatic movement of the tool 7 and the Tool Cen ⁇ ter Points 8 along the height Z at a fixed position in the X w and Y w world coordinate axes of the world coordinate data K w level E Xy preferably be planned off ⁇ line.
  • the height Z corresponds to the Z w - world coordinate of the world coordinate system K w .
  • the positions and orientations of the tool are used for this planning
  • the mobile robot 1 eight ⁇ free degrees of freedom.
  • the mobile robot 1 is thus a redundant I ⁇ ter of mobile robots for which it is generally for the respective positions and orientations of the tool center
  • the positions of the robot arm 6 result from angular positions of the individual members relative to each other.
  • the loading is operating the mobile robot 1 with the aid of at least one Gra ⁇ phen planned as a function of height in the Z and the angle of the redundancy P ß is shown.
  • the height Z, the angle ⁇ and the redundancy P can in particular form a three-dimensional Cartesian coordinate system 30 shown in FIG. 3, in which the redundancy P is plotted as a function of the height Z and the angle ⁇ as a first graph G1 is.
  • the first graph Gl is a dreidi ⁇ dimensional graph.
  • the first graph G can be color-coded by (Z, ⁇ ) pairs with a higher redundancy P being marked differently in color than (Z, ⁇ ) pairs with lower redundancy P.
  • the height Z, the angle ⁇ and the redundancy P can also be illustrated as a two-dimensional graph (second graph G2) shown in FIG.
  • the second graph G2 shows the height Z as a function of the angle ⁇ .
  • the second graph G2 is Different marked, for example, by the redundancy P is illustrated in color or by different gray levels.
  • the second graph G2 is in particular a plan view of the first graph Eq.
  • relatively simple (Z; .beta.) Pairs or (Z; .beta.) Pairs with relatively high redundancy P can be determined.
  • the second graph G2 includes, for example, first regions 41, which (Z ss) associated pairs for which no configurations of the mobile robot 1 are possible, second regions 42, which (Z ss) associated pairs for which Configuratio ⁇ nen of the mobile robot 1 with relatively low redundancy P are possible, and third areas 43, which (Z; ß) pairs are assigned to the configurations of the mobile Robo ⁇ ters 1 with relatively high redundancy P are possible.
  • Figures 5 and 6 illustrate, as a result of the two ⁇ th graph G2 can be checked whether the course of a planned path for the tool center point can be performed with the mobile robot 1 8.
  • the course 51 of a six-dimensional web is planned along which the Tool Center Point 8 is to move automatically.
  • the course 51 of the web in the six-dimensional space is e.g. Planned in world coordinates or in world and TCP coordinates, and includes an indication of the course of the position and orientation of the tool center point 8 in space.
  • the course 51 of the planned path is transformed by means of a transformation 52 into the two-dimensional subspace, resulting in a transformed path whose course 53 can be represented graphically.
  • the graphic curve 53 of the transformier ⁇ th planned path is superposed on the second graph G2.
  • the profile 53 of the transformed planned path is located in areas of the second graph G2, which (Z ss) associated pairs for which a Configu ⁇ ration of the mobile Robot 1 is possible. Such a case is shown in FIG. 5.
  • the path 53 of the planned transformed path lies at least partially in regions of the second graph G2 to which (Z; ß) pairs are assigned, for which a configuration of the mobile robot 1 un ⁇ possible. Such a case is shown in FIG. 6.
  • the course 53 of the transformed planned path can be changed so that a changed course 73 of the transformed planned path is created, which can be carried out by the mobile robot 1.
  • the modified Ver ⁇ run 53 of the transformed planned path is changed in the second graph G2 exceeded camped, to immediately recognize whether the changed course 73 of the transformed planned path is feasible with the mobile robot. 1
  • the change in the course of the transformed path can be done, for example, by means of a cursor.
  • FIG. 8 illustrates an example of planning a configuration of the mobile robot 1 in which the tool center point 8 should take a predetermined height Z. Yield several angle ß ⁇ on the basis of the redundancy P for this height Z.
  • FIG. 8 shows the mobile robot 1 for three configurations of the mobile robot 1, in which the tool center point 8 occupies the same height Z in each case, but different angles ⁇ in each case.
  • the carrier vehicle 2 assumes the same position and orientation, the angular positions of the members of the robot arm 6 relative to each other are different.
  • the carrier vehicle 2 is shown with solid Li-German and the robot arm 6 for a first confi ⁇ guration of the mobile robot 1 also with a Runaway ⁇ solid line and for a second configuration of the mobile robot 1 having a dashed line.
  • the mobile robot 1 is drawn with a dotted broken line for the third configuration of the mobile robot 1.
  • the height Z for the Tool Center Point 8 festge ⁇ sets. Subsequently, using the first graph G1 and / or the second graph G2, possible values ⁇ 1, ⁇ 2, ⁇ 3 of the angle ⁇ are determined. This can also be done automatically.
  • the angle .beta. Can also be specified in order to determine for this angle .beta.
  • the graph Gl and G2 can be also plan the following On ⁇ handover for the mobile robot 1: The mobile robot 1 is intended to engage with its configured as a gripper tool 7 a workpiece and in a different position again offshoots gene by means of the graph Gl and. / or G2 can be found favorable positions for this task.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de planification optimisé en termes de redondance d'un fonctionnement d'un robot mobile (1) redondant, lequel présente un véhicule porteur (2) mobile, un bras robotique (6) pourvu de plusieurs organes (11-16) montés rotatifs par rapport à des axes de rotation (21-25) et reliés par des articulations, des mécanismes d'entraînement permettant de déplacer les organes (11-16) les uns par rapport aux autres et un dispositif de commande électronique (5) conçu pour commander les mécanismes d'entraînement destinés aux organes (11-16) et le véhicule porteur (2) destiné au déplacement du robot mobile (1).
EP16727695.5A 2015-06-25 2016-06-07 Procédé de planification optimisé en termes de redondance d'un fonctionnement d'un robot mobile Ceased EP3313626A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015211865.7A DE102015211865B3 (de) 2015-06-25 2015-06-25 Verfahren zum redundanzoptimierten Planen eines Betriebs eines mobilen Roboters
PCT/EP2016/062918 WO2016206968A1 (fr) 2015-06-25 2016-06-07 Procédé de planification optimisé en termes de redondance d'un fonctionnement d'un robot mobile

Publications (1)

Publication Number Publication Date
EP3313626A1 true EP3313626A1 (fr) 2018-05-02

Family

ID=55803557

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16727695.5A Ceased EP3313626A1 (fr) 2015-06-25 2016-06-07 Procédé de planification optimisé en termes de redondance d'un fonctionnement d'un robot mobile

Country Status (5)

Country Link
US (1) US10828777B2 (fr)
EP (1) EP3313626A1 (fr)
CN (1) CN107820456B (fr)
DE (1) DE102015211865B3 (fr)
WO (1) WO2016206968A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113001069A (zh) * 2021-03-02 2021-06-22 南京达风数控技术有限公司 一种六关节机器人的焊缝跟踪方法

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10471595B2 (en) * 2016-05-31 2019-11-12 Ge Global Sourcing Llc Systems and methods for control of robotic manipulation
DE102016210498A1 (de) * 2016-06-14 2017-12-14 Kuka Roboter Gmbh Patientenpositioniervorrichtung und medizinischer Arbeitsplatz
DE202017001578U1 (de) 2017-03-23 2018-06-26 Kuka Deutschland Gmbh Manuelle Führungsvorrichtung und mobile Plattform
US10646993B1 (en) * 2017-07-26 2020-05-12 Facebook, Inc. Robots linkable to perform tasks in coordinated teams
USD907084S1 (en) * 2017-12-14 2021-01-05 The Hi-Tech Robotic Systemz Ltd Mobile robot
USD896858S1 (en) * 2017-12-14 2020-09-22 The Hi-Tech Robotic Systemz Ltd Mobile robot
USD906390S1 (en) * 2017-12-14 2020-12-29 The Hi-Tech Robotic Systemz Ltd Mobile robot
USD879851S1 (en) * 2017-12-29 2020-03-31 Beijing Geekplus Technology Co., Ltd. Robot
USD911406S1 (en) * 2018-08-17 2021-02-23 Grey Orange Pte. Ltd Robot for moving articles within a facility
CN109159121B (zh) * 2018-09-12 2021-01-01 浙江工业大学 采用抛物线型终态神经网络的冗余机器人重复运动规划方法
CN109807893B (zh) * 2019-02-19 2022-03-15 宁波凯德科技服务有限公司 一种焊接机器人运动模型光滑化方法
CN113001537B (zh) * 2019-12-20 2022-08-02 深圳市优必选科技股份有限公司 机械臂控制方法、机械臂控制装置及终端设备
USD967883S1 (en) * 2021-01-06 2022-10-25 Grey Orange International Inc. Robot for handling goods in a facility
CN113459086B (zh) * 2021-05-28 2022-07-29 北京精密机电控制设备研究所 一种超冗余机械臂路径规划方法
CN113733052B (zh) * 2021-09-17 2023-07-25 西安交通大学 一种全向移动机器人及其控制方法
JP7364642B2 (ja) * 2021-10-28 2023-10-18 株式会社安川電機 塗装ロボットおよび塗装システム

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4954962A (en) * 1988-09-06 1990-09-04 Transitions Research Corporation Visual navigation and obstacle avoidance structured light system
US5550953A (en) * 1994-04-20 1996-08-27 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration On-line method and apparatus for coordinated mobility and manipulation of mobile robots
US5413454A (en) * 1993-07-09 1995-05-09 Movsesian; Peter Mobile robotic arm
DE10229293A1 (de) * 2002-06-29 2004-01-29 Tecmedic Gmbh Verfahren zur Bestimmung der relativen Orientierung einer Roboter-Verfahrachse gegenüber einem Roboter-Koordinatensystem
JP4735795B2 (ja) * 2003-12-26 2011-07-27 独立行政法人 宇宙航空研究開発機構 冗長マニピュレータの制御方法
DE602005005306T2 (de) * 2005-05-31 2009-05-07 Honda Research Institute Europe Gmbh Steuerung der Bahn eines Greifers
DE102008042612A1 (de) * 2008-10-06 2010-04-08 Kuka Roboter Gmbh Industrieroboter und Bahnplanungsverfahren zum Steuern der Bewegung eines Industrieroboters
EP2485875B1 (fr) * 2009-10-06 2013-04-24 ABB Technology AG Procédé de diminution de la consommation énergétique d'un robot industriel et système robotique industriel
DE102011106321A1 (de) * 2011-07-01 2013-01-03 Kuka Laboratories Gmbh Verfahren und Steuermittel zum Steuern eines Roboters
CN103781602A (zh) * 2011-09-15 2014-05-07 株式会社安川电机 机器人系统及机器人控制装置
DE102011084412A1 (de) * 2011-10-13 2013-04-18 Kuka Roboter Gmbh Robotersteuerungsverfahren
DE102012208094A1 (de) * 2012-05-15 2013-11-21 Kuka Laboratories Gmbh Verfahren zum Ermitteln möglicher Positionen eines Roboterarms

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113001069A (zh) * 2021-03-02 2021-06-22 南京达风数控技术有限公司 一种六关节机器人的焊缝跟踪方法

Also Published As

Publication number Publication date
WO2016206968A1 (fr) 2016-12-29
US20180186001A1 (en) 2018-07-05
US10828777B2 (en) 2020-11-10
CN107820456A (zh) 2018-03-20
CN107820456B (zh) 2021-07-23
DE102015211865B3 (de) 2016-05-12

Similar Documents

Publication Publication Date Title
EP3313626A1 (fr) Procédé de planification optimisé en termes de redondance d'un fonctionnement d'un robot mobile
EP2664420B1 (fr) Procédé de détermination des positions possibles d'un bras robotisé
EP2359988B1 (fr) Méthode pour calibrer un robot parallèle
EP2546711B2 (fr) Procédé de programmation d'un robot
EP2563553B1 (fr) Procédé et moyen de commande pour commander un robot
EP2303521B1 (fr) Robot industriel et procédé de planification de trajectoire pour commander le déplacement d un robot industriel
EP2353802A2 (fr) Procédé de planification de bande sans collision d'un robot industriel
EP2631041A2 (fr) Robot mobile
DE19709851A1 (de) Verfahren und programmierbarer Positioner für die spannungsfreie Montage von Baugruppen
EP3475936B1 (fr) Procédé de verification d'une collision entre deux véhicules de transport sans conducteur, un vehicule de transport sans conducteur et un système à plusieurs véhicules de transport sans conducteur
DE102007059480B4 (de) Verfahren und Vorrichtung zur Posenüberwachung eines Manipulators
DE102012208095A1 (de) Mobiler Roboter und Verfahren zum Betreiben eines mobilen Roboters
DE102008057142A1 (de) Verfahren zur rechnergestützten Bewegungsplanung eines Roboters
DE102012003663A1 (de) Mobiler Roboter, Bearbeitungsstation und Verfahren zum Betreiben eines mobilen Roboters
EP2550227A1 (fr) Procédé pour faire fonctionner un chariot de manutention autonome
DE102015114013B4 (de) Verfahren und Vorrichtung zur Steuerung des Betriebs eines Roboters
WO2010085944A1 (fr) Procédé destiné à éviter des collisions de parties à mobilité commandée d'une installation
DE102017008316A1 (de) Bearbeitungssystem mit einer auf einem Fahrzeug angeordneten Aufnahmeeinheit für mindestens ein Bauteil und Verfahren zum Bearbeiten mindestens eines Bauteils
DE10335568B4 (de) Robotersystem und Verfahren zu dessen Anwendung
AT518498B1 (de) Positionsüberwachung einer Kinematik
EP3569367B1 (fr) Détermination d'un mouvement d'un dispositif assistée par ordinateur
EP2504741B1 (fr) Procédé d'élaboration d'un modèle de robot, et robot industriel
EP3244981B1 (fr) Moyen de déplacement avec un système robotique
EP3448631A1 (fr) Robot à support mobile et manipulateur
EP3086898A1 (fr) Robot de soudure et procédé de fonctionnement d'un dispositif de soudage laser

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20171215

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: KUKA DEUTSCHLAND GMBH

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
REG Reference to a national code

Ref country code: DE

Ref legal event code: R003

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN REFUSED

18R Application refused

Effective date: 20210503

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230528