EP3408062A1 - Steuern eines roboterverbands - Google Patents

Steuern eines roboterverbands

Info

Publication number
EP3408062A1
EP3408062A1 EP17701637.5A EP17701637A EP3408062A1 EP 3408062 A1 EP3408062 A1 EP 3408062A1 EP 17701637 A EP17701637 A EP 17701637A EP 3408062 A1 EP3408062 A1 EP 3408062A1
Authority
EP
European Patent Office
Prior art keywords
robot
speed
follower
guide
factor
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
Application number
EP17701637.5A
Other languages
German (de)
English (en)
French (fr)
Inventor
Linda FREMUTH
Andreas Hagenauer
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 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
Publication of EP3408062A1 publication Critical patent/EP3408062A1/de
Pending 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
    • B25J9/1679—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
    • 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
    • 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
    • G05B19/416—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 control of velocity, acceleration or deceleration
    • 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
    • G05B2219/39144—Scale moving time of all robots, machines to match slowest, no waiting
    • 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
    • G05B2219/39145—Slave path is the same as master path and superposed desired relative movement
    • 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
    • G05B2219/40417—For cooperating manipulators

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
EP17701637.5A 2016-01-27 2017-01-25 Steuern eines roboterverbands Pending EP3408062A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016000850.4A DE102016000850A1 (de) 2016-01-27 2016-01-27 Steuern eines Roboterverbands
PCT/EP2017/000084 WO2017129360A1 (de) 2016-01-27 2017-01-25 Steuern eines roboterverbands

Publications (1)

Publication Number Publication Date
EP3408062A1 true EP3408062A1 (de) 2018-12-05

Family

ID=57906592

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17701637.5A Pending EP3408062A1 (de) 2016-01-27 2017-01-25 Steuern eines roboterverbands

Country Status (5)

Country Link
US (1) US20190047148A1 (zh)
EP (1) EP3408062A1 (zh)
CN (1) CN109153117A (zh)
DE (1) DE102016000850A1 (zh)
WO (1) WO2017129360A1 (zh)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019106392A1 (de) * 2019-03-13 2020-09-17 Grob-Werke Gmbh & Co. Kg Vorrichtung und Verfahren zum Imprägnieren von Bauteilen einer elektrischen Maschine
WO2021048957A1 (ja) * 2019-09-11 2021-03-18 株式会社Ｆｕｊｉ 多関節ロボット、多関節ロボットの制御方法及び多関節ロボットの制御プログラム
TW202321847A (zh) * 2021-11-01 2023-06-01 美商靈巧公司 控制多個機器人協同執行任務的機器人系統
CN113733038B (zh) * 2021-11-02 2022-01-11 季华科技有限公司 一种机器人协同动作控制方法、装置、系统及存储介质

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2880590B2 (ja) * 1991-07-24 1999-04-12 株式会社不二越 産業用ロボットの同期制御方法
JP3306781B2 (ja) * 1992-12-31 2002-07-24 株式会社ダイヘン 産業用ロボットの手動操作による教示制御装置および教示方法
US6804580B1 (en) * 2003-04-03 2004-10-12 Kuka Roboter Gmbh Method and control system for controlling a plurality of robots
DE602004019781D1 (de) * 2003-06-20 2009-04-16 Fanuc Robotics America Inc Mehrfach-roboterarm-verfolgung und spiegel-jog
JP4382003B2 (ja) * 2005-03-23 2009-12-09 川崎重工業株式会社 ロボット制御装置およびロボット制御方法
ATE544102T1 (de) * 2007-12-06 2012-02-15 Abb Research Ltd Roboterbetriebssystem und verfahren zur bereitstellung einer fernsteuerung für einen roboter
DE102012012184A1 (de) * 2012-06-19 2013-12-19 Kuka Roboter Gmbh Vorgabe synchronisierter Roboterbewegungen
CN102721746A (zh) * 2012-07-04 2012-10-10 北京理工大学 一种双机械手超声透射检测装置
US9840008B2 (en) * 2013-03-19 2017-12-12 Panasonic Intellectual Property Management Co., Ltd. Robot system control method and robot system
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
CN204908942U (zh) * 2015-07-09 2015-12-30 南京第五纪机器人科技工程有限公司 一种全数字化智能餐厅系统

Also Published As

Publication number Publication date
US20190047148A1 (en) 2019-02-14
DE102016000850A1 (de) 2017-07-27
WO2017129360A1 (de) 2017-08-03
CN109153117A (zh) 2019-01-04

Similar Documents

Publication Publication Date Title
EP3323026B1 (de) Ermitteln eines eingabebefehls für einen roboter, der durch manuelles ausüben einer kraft auf den roboter eingegeben wird
EP3109012B1 (de) Umschalten einer steuerung eines roboters in einen handführ-betriebsmodus
EP2977149B1 (de) Verfahren und mittel zum auslegen und/oder betreiben eines roboters
WO2017129360A1 (de) Steuern eines roboterverbands
EP3056322B1 (de) Verfahren und system zum betreiben einer mehrachsigen maschine, insbesondere eines roboters
EP2977148B1 (de) Verfahren und vorrichtung zum steuern eines roboters
DE102015012056A1 (de) Robotersteuerung zum Vermeiden eines Problems hinsichtlich des Roboters zum Zeitpunkt eines Not-Stopps
EP3347169B1 (de) Verfahren und system zum steuern einer roboteranordnung
WO2017129352A1 (de) Verfahren und system zur bahnplanung eines redundanten roboters
EP2656980B1 (de) Verfahren und Mittel zum Vorgeben und/oder Steuern eines Manipulatorprozesses
EP3415286A1 (de) Überwachung eines roboters
EP3037219B1 (de) Sicherer roboter mit bahnfortschrittsvariablen
DE102019205651B3 (de) Verfahren und System zum Ausführen von Roboterapplikationen
DE102016212958A1 (de) Redundanzauflösung für einen redundanten Manipulator
DE102015009892A1 (de) Verfahren und System zum Steuern eines Roboters
EP3367185A1 (de) Antriebssystem und dessen beurteilung
EP3374135A1 (de) Verfahren zum vereinfachten ändern von applikationsprogrammen zur steuerung einer industrieanlage
DE102018207919B3 (de) Robotersteuerung
DE102018101271B4 (de) Roboterprogrammmodifizierungseinrichtung, Robotersteuerungseinrichtung, Robotersimulationseinrichtung und Roboterprogrammmodifizierungsverfahren
DE102020202837A1 (de) Steuersystem von industrieroboter
EP3810377B1 (de) Verfahren und system zum überführen eines endeffektors eines roboters zwischen einer endeffektorpose und einer weiteren endeffektorpose
DE102014226914B4 (de) Override basierte vorausschauende Geschwindigkeitskappung
DE102017011130B4 (de) Verfahren und System zum Steuern eines Roboters
DE102021204306B3 (de) Verfahren und System zum Durchführen einer Roboterapplikation
DE102022112439B3 (de) Sicherer Roboter

Legal Events

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

Free format text: STATUS: UNKNOWN

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: 20180808

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

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

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20210325

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

Free format text: STATUS: EXAMINATION IS IN PROGRESS

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

Effective date: 20230528

APBK Appeal reference recorded

Free format text: ORIGINAL CODE: EPIDOSNREFNE

APBN Date of receipt of notice of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA2E

APBR Date of receipt of statement of grounds of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA3E

APAF Appeal reference modified

Free format text: ORIGINAL CODE: EPIDOSCREFNE