EP3727767A1 - Verfahren und vorrichtung zum bestimmen eines optimierten bewegungsablaufs einer robotereinrichtung - Google Patents
Verfahren und vorrichtung zum bestimmen eines optimierten bewegungsablaufs einer robotereinrichtungInfo
- Publication number
- EP3727767A1 EP3727767A1 EP19704263.3A EP19704263A EP3727767A1 EP 3727767 A1 EP3727767 A1 EP 3727767A1 EP 19704263 A EP19704263 A EP 19704263A EP 3727767 A1 EP3727767 A1 EP 3727767A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- pose
- movement
- robot device
- uncertainty
- sections
- 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
-
- 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
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- 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
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Definitions
- the present invention relates to a method for Bestim men an optimized movement of a Roboterereinrich device and an apparatus for performing such a method.
- Robot devices can be used, for example, in industrial plants to move objects, in particular work pieces, and / or merge. In general, it can be said that a first object with respect to a second object is brought into a target pose by a movement sequence of the robot device.
- an object of the present invention is to provide an improved determination of an optimized movement sequence of a robot device.
- a method for determining an optimized movement sequence of a robot device for moving a first object is such that the first object is independent of an uncertainty of a pose of the first object with respect to a second object and / or independent of an uncertainty of a pose
- the robotic device is brought into a target pose, proposed.
- the method comprises:
- Determining an optimized sequence of movements of the robot device taking into account the simulated motion sections and of boundary conditions that specify at least one start pose and the Zielpose the first item.
- the robot device is, for example, a robot, a robot arm, or a device that can perform a predetermined motion sequence and / or motion sections.
- the robot device can be used in an automated manufacturing process, in particular in an industrial plant, or in a packaging process.
- the robot device is particularly suitable for bringing the first object into the targetpouch with respect to the second object.
- the first and the second object in the following together also referred to as "objects”, can be brought together, for example. stand or put on the second object to subsequently fix the objects together.
- the final pose of the first item with respect to the pose of the second item may be referred to as a target pose.
- the "pose” of an object is understood to mean, in particular, a position and / or an orientation of this object.
- the terms “target pose” and “start pose” can be defined analogously.
- a sequence of movements can be understood to mean a sequence of individual movements of the robot device.
- the movement sequence can include a large number of movement sections.
- several movement sections can be arranged in such a way that they form a movement sequence.
- the movement sequence and / or the movement section may indicate, for example, in which direction along a coordinate system the robot device is to move the first object, with which speed the robot device is to move the first object and / or which force is to apply the robot device. in particular in the context of an impedance control.
- the simulation of the movement sections is in particular physical simulations.
- a simulator can be used.
- the simulator is a solid body simulator that maps the dynamic system (first object and robotic device).
- each movement section may be described by a movement section start pose and a movement section target pose.
- the simulator is particularly suitable for simulating complex motion sections.
- the trajectory may include movements in up to six degrees of freedom (three rotatory and three translational).
- the contact of the robotic device with the first article and / or the contact between the two articles may cause some nonlinearity, which is difficult to model.
- the process in which the first object is guided into the target pose is a dynamic process, which is why at least speeds can be included in the simulation.
- the uncertainty of the pose of the first subject signifies an indeterminacy about where exactly the first subject exists.
- the uncertainty of the pose of the first subject is defined, in particular, with respect to the second subject, and uncertainties of the pose of the second subject may therefore be covered by the uncertainty of the pose of the first subject.
- the uncertainty of the pose of the first object may occur because the first and / or second object has a certain elasticity and / or a certain friction coefficient, which are not taken into account by model representations of the first and / or second object.
- the uncertainty of the pose of the first item is not always constant and may vary from item to item.
- the uncertainty of the robotic device describes in particular an uncertainty about where the robot device is exactly.
- the uncertainty of the robotic device may also be an illustration for inaccurate model representations of the robotic device.
- the uncertainty of the robot may represent a disturbance to a movement of the robotic device.
- a plurality of simulated movement sections is in particular obtained.
- the individual simulated movement sections are evaluated at closing, for example with regard to their quality. They can also be put together to form an optimized movement sequence.
- the evaluation of the simulated movement sections leads in particular to the fact that an optimized sequence of movements of the Ro bender device is determined.
- the starting pose and the target pose of the first object can be taken into account as boundary conditions.
- the starting pose is in particular a pose of the first object before the robot device moves the first object according to a movement sequence and leads into the target pose.
- the optimized movement sequence is a sequence of movements which enables the robot device, in particular, to guide the first object into the target pose, even if there is uncertainty in the pose of the first object and / or the robotic device. That is, two different first objects moved with the robot device along the same optimized motion sequence both into the target pose, even if they are subject to unequal uncertainties.
- an optimized sequence of movements enables, in particular, a reliable movement of the first object into the target pose.
- an optimized movement sequence is provided, which leads the first object - despite model errors and other variable disturbances - into the desired target pose. It is, for example, not necessary to try in a complex manner, the Modellfeh ler as far as possible to reduce, and / or exclude disturbances as much as possible.
- Determining the optimized motion sequence can be done in a flexible manner because it is performed automatically.
- an optimized movement sequence can already be determined for a movement which is to be performed only once or only a few times with the robotic device, because the determination of the optimized movement of movement can be carried out with little effort.
- the determination of the optimized motion sequence takes place taking into account the uncertainty of the pose of the first article and / or the uncertainty of the pose of the robot device, the method described can be used particularly widely on both sides.
- the method further comprises performing the optimized motion sequence with the robot device such that the first object is guided into the target pose with respect to the second object.
- the robot device has a compensation property, which is a partial compen sation of the robot device for the uncertainty of the pose of the first object and / or for the uncertainty of the pose of the robotic device; and where
- determining the optimized motion sequence includes tuning an optimized compensation characteristic of the robotic device, or simulating the motion sections further taking into account a predetermined compensation characteristic of the robot device.
- the compensation feature of the robot device which serves to partially compensate the robot device for the uncertainty of the pose, is also referred to below as "post-goughness.” This may be, for example, a spring behavior or a damping behavior of the robot device Compensation of the robot device for the uncertainty of the pose also on the basis of a compliancy keitsregelung, in particular by means of an impedance control, the robot device done.
- the compliance can be determined, in particular calculated, when determining the optimized movement sequence.
- the compliance can already be an input value in the simulation of the movement sections, so that the simulation of the movement sections takes place taking into account a predetermined compliance of the robot device.
- the flexibility of the robotic device is used, in particular, to prevent the robot device from disturbing itself, the first object and / or the second object, because it misses because of one of the uncertainties.
- the uncertainty of the pose of the first object and / or the robot device is a selected value of a statistical uncertainty distribution.
- the uncertainty of the pose of the first subject is determined by a first uncertainty distribution and the uncertainty Uncertainty of the pose of the robot device modeled on the basis of a further uncertainty distribution.
- the uncertainty can in particular assume different values.
- a distribution of these values can be represented in the statistical uncertainty distribution.
- the uncertainty of the pose of the first object and / or the robot device whose value is used in simulating the motion sections may be selected from this uncertainty distribution.
- the uncertainty of the pose of the first object and / or the robot device is randomly selected from the statistical uncertainty distribution.
- the uncertainty of the pose of the first object and / or the robot device is selected randomly from the uncertainty distribution.
- the random selection serves, in particular, to map the uncertainty density function.
- the simulation of the plurality of movement sections takes place taking into account different values of the uncertainty of the pose of the first object and / or the robot device.
- a different uncertainty value is used for several simulations of a same movement section. These different uncertainty values can be taken from the statistical uncertainty distribution.
- a plurality of movement sections are randomly determined, all of which originate from a same movement section of the robot device.
- the method also includes:
- the move portion start pose may be the start pose of the first item. From thisthsab 4.000startpose several movement sections can be simulated. These movement sections are, in particular, random movement sections, all of which have the movement section start pose as an initial pose. However, the individual simulated movement sections may have different movement section target poses.
- the selected motion section target pose is defined as a new starting point, ie as a new motion section start pose. From this newthsabexcellentstartpose several re movement sections can be simulated randomly again, which in turn can have different (new)fursabexcellentzielposen ha ben. Again, a random selection of one of the (new) motion segment target poses may be made to use as another motion segment start pose.
- the steps of simulating the move sections, selecting a move section target pose to be due, and setting the selected move section target pose as a new move section start pose may be repeated iteratively. In particular, they are repeated until it is recognized that a moving segment target pose of a simulated one Movement section is located in the target area.
- the target area includes in particular the target pose.
- the determination of the optimized movement sequence of the robot device is carried out by an engagement of at least two of the simulated loading movement sections.
- At least one robot device characteristic, a first object property of the first object and / or a second object property of the second object are taken into account.
- the robot device property comprises at least:
- the maximum force that can be applied by the robot device is, in particular, a force limit of the robot device along a specific direction.
- the model representation of the robotic device may be a computer-aided design (CAD) model, indicating, for example, how large the robotic device is.
- the possible movements of the robot device particularly denote those movements that the robot device can perform.
- the first and / or second object characteristic (hereinafter also referred to collectively as "object properties”) comprises at least: a coefficient of friction of the first and / or the second object;
- the model representation of the first and / or the second object can be a CAD model. Characterized in that the determination of the optimized movement sequence taking into account the robot device property and / or the properties of the object takes place, the optimized movement can be determined appli cation specific.
- determining the optimized movement sequence comprises:
- the cost function is in particular an indication of how suitable a simulated movement segment is.
- the method further comprises:
- An assembled from several movement sections Be wegungsablauf can have a total cost function, which is a sum of the cost functions of the individual movement sections of the movement.
- the optimized movement sequence can be the sequence of movements which, after several passes, is the one whose total cost function is minimal.
- the method further comprises:
- a motion progression part comprising at least two motion sections
- a movement section can be attached to the existing movement sequence part and checked whether the cost function of the resulting Be wegungsablaufteils exceeds a predetermined value.
- the predetermined value may be the cost function of a previously determined movement, namely, the first movement of movement. If the cost function of the BeWe supply expiration part is already greater than the cost function of the first movement, this movement part is in particular no further pursued. This means, for example, that no further movement sections are attached in order to obtain a complete movement sequence. In particular, it can be ensured that only movement sequences which are good in terms of cost function are pursued. As a result, the computational effort can be significantly reduced. be graced. In particular, a solution for the optimi th movement with little computational effort can be found.
- the cost function contains an indication of:
- the web also trajectory, is in particular a distance along which the first object moves when the robot device performs the simulated movement section.
- the uncertainty of the pose of the first item represents an uncertainty of a model used for the first and / or second item and / or a manufacturing tolerance of the first and / or second item.
- the uncertainty of the model used may be, for example, an error in the model representation of the first object and / or the second object.
- Such an error may be, for example, that the model does not take into account the elasticity of the first and / or second article.
- a computer program product which allows the execution of the method according to the first aspect or according to an embodiment of the first aspect on a program-controlled device.
- a computer program product such as a computer program means, for example, as a storage medium, such as
- a device for determining an optimized movement sequence of a robot device for moving a first object is such that the first object is independent of an uncertainty of a pose of the first object with respect to a second object and / or independent of an uncertainty Pose of the robotic device is brought into a Zielpose gene.
- the device comprises:
- a simulation unit for simulating movement sections of the robot device taking into account the uncertainty of the pose of the first object and / or the uncertainty of pose of the robot device;
- a determination unit for determining the optimized movement Be wegungsablaufs the robot device, taking into account the simulated movement sections and of boundary conditions, the object specifying at least one start pose and the Zielpose the first.
- the respective unit for example the simulation unit or the determination unit, can be implemented in terms of hardware and / or software.
- the respective unit may be designed as a device or as part of a device, for example as a computer or as a microprocessor or as a control computer of a vehicle.
- the respective unit may be designed as a computer program product, as a function, as a routine, as part of a program code, or as an executable object.
- the device is suitable for carrying out the method according to the first aspect or according to an embodiment of the first aspect.
- Fig. 1 shows an example of a manufacturing apparatus in which a first article is in a starting pose
- Fig. 2 shows an example of the manufacturing apparatus in which the first article is in a target pose
- FIG. 5 shows an example of moving a first object along an optimized course of motion
- Fig. 6 shows an apparatus for determining an optimized one
- Fig. 1 shows an example of a manufacturing apparatus 10.
- the manufacturing apparatus 10 is part of an automated industrial system. It comprises a Roboterein device 3, a first object 1 and a second Ge object 2.
- first article 1 is a cylindrical workpiece made of plastic.
- the size of the first Ge genstands 1 is selected such that the first object 1 hineinge into a hole 9 of the second object can be inserted.
- the second article 2 is another plastic part.
- the robot device 3 is a robot that serves to bring together components.
- the robot device 3 is because in order to perform different movements per programmable. For example, it may guide the first article 1 into the bore opening 9 of the second article 2.
- the robot device 3 comprises a robot arm 11, which can grip the first object 1.
- Fig. 1 it is shown how the robot arm 11 holds the Ers th object 1 in a starting pose SP.
- the robot device 3 guides the first object 1 into the drilling opening 9 of the second object 2, so that the first object 1 reaches a target pose ZP.
- the pose of the first item 1 denotes a combination of a position and an orientation of the first item, and is defined relative to a pose (position and orientation) of the second item 2.
- the pose of the first item 1 with respect to the second item 2 has some uncertainty. This uncertainty arises due to the physical properties of the first and second articles 1, 2, which are difficult to estimate and model. These physical properties may be, for example, the elasticity or the friction coefficient of the material forming the first and / or second object 1, 2.
- the pose of the robot device 3 also has a certain uncertainty.
- the sequence of motions given to the robot device 3 guides the first object 1 independently of the uncertainty of the pose of the first object 1 and independently of the uncertainty of the pose of the robot device 3, reliably in its target pose ZP. Such a movement is called in particular "optimized movement”.
- the robot device 3 has a compensation property (hereinafter also “yielding") which serves to at least partially compensate for the uncertainty of the pose of the first article 1 and / or the uncertainty of the pose of the robot device 3.
- the robot device 3 indicates Not shown spring system.
- the optimized movement sequence can be determined by means of a method for determining the optimized sequence of movements of the robot device 3.
- FIG. 3 shows an example of such a method according to a first embodiment.
- an (optional) preparation step SO the robot device 3 and the two objects 1, 2 are provided.
- a step S1 movement sections of the robot device 3 are simulated.
- a movement section corresponds to a sequence of movements of the robot device 3.
- a solid state simulator is used to simulate the movement sections.
- at least thirtyspanssab sections are simulated.
- the simulations of the moving sections are all performed taking into account the same predetermined robot device characteristics and the same first and second object characteristics of the first and second articles 1, 2.
- the robot device properties are maximum forces applied by the robot device 3 and possible movements of the robot device 3
- the object properties are a CAD model representation of the first and second objects 1, 2 and material properties of these objects 1, 2. These properties can be specified by the user to the simulator.
- step S2 an optimized sequence of movements is determined based on the motion sections simu lated in step S1. This is done taking into account the start pose SP and the target pose ZP of the first subject 1.
- Step S2 a plurality of the simulated movement sections are set together, so that they form a sequence of movements for the robot device 3, with which the robot device 3 can guide the first object 1 from the start pose SP to the target pose ZP.
- This consists of several simulated movement cut composite movement corresponds to the optimized movement.
- the robot device 3, the first counter object 1 regardless of the uncertainty of the pose of the first article 1 and regardless of the uncertainty of the pose of the robot device reliably lead to the target pose ZP.
- the flexibility to be applied by the robot device 3 is determined as part of the optimized motion sequence.
- FIG. 4 shows a method for determining an optimized movement sequence of a robot device according to a second embodiment.
- the step SO of the method according to the second embodiment corresponds to the step SO already described with respect to the method according to the first embodiment (FIG. 3) and therefore will not be described again.
- the step of simulating S1 includes steps S10-S13.
- step S10 a plurality of movement sections are arbitrarily determined, all starting from a same movement section start pose of the robot device.
- the first pass is the start pose of the first object 1.
- the simulated motion sections have different movement section target poses.
- the target area may include the target pose of the first item 1.
- steps S12 and S13 are performed.
- step S12 a moving portion target pose of one of the plurality of simulated moving sections is selected at random.
- step S13 the moving portion target pose selected in step S12 is set as a new moving portion start pose.
- steps S10 and Sil are performed again. This means that again several movement sections are simulated, which this time have all the new motion segment start pose as movement segment start pose.
- step S2 is performed.
- the step S2 includes the steps S20, S21, S22, S23 and S24.
- step S20 the simulated moving sections that have resulted in a moving section target pose in the target area are merged. These merged motion sections form a sequence of movements.
- a total cost function of the motion sequence formed in step S20 is calculated.
- cost functions of the individual movement sections, which form the movement section are calculated and added together.
- the cost function is an indication of a duration of performing the simulated movement section. It is desirable to minimize the duration of performing the entire motion sequence because it can increase a production amount in a given time. The calculation of the total cost function thus serves to simplify a determination of the optimized movement sequence.
- step S22 it is determined whether the Bacteriofunkti on is less than a previously calculated total cost function of a previously determined (first) movement. If this is the case, the Be wegungsablauf determined in step S20 is retained (step S23). If the total cost function is not less than the previously calculated Backos tenfunktion the previously determined (first) movement is, the motion determined in step S20 is discarded (step S24). If the movement determined in step S20 is the first movement, step S23 is performed.
- the steps S1 and S2 can be repeated as often as desired in order to optimize the motion sequence determined in step S20.
- the repetition is shown in Fig. 4 with reference to the arrow W.
- a predetermined number of repetitions, i. Passing in a step S3, the motion sequence retained last in the step S23 is determined as the optimized motion sequence.
- step S4 the robot device 3 moves the first object 1 along the optimized course of motion defined in step S3 and guides the first object 1 into the target pose ZP. This movement of the first object 1 is shown in FIG. 5.
- FIG. 5 shows an example of a movement of a first object la along an optimized sequence of movements 8.
- four first objects la - ld are shown. These four first objects 1a-1d correspond to the first object 1 described with reference to FIG.
- the first objects 1a-1d differ from each other in their exact pose with respect to the second object 2, but are otherwise identical.
- the pose differences correspond to the previously described uncertainty of the pose of the first subject 1a-ld and the uncertainty of the pose of the robotic apparatus 3 previously described.
- FIG. 5 shows poses I-V of the first objects 1a-1d, the pose I corresponding to the start pose SP of the first objects 1a-1d and the pose V to the target pose Zp of the first objects 1a-1d.
- the poses II, III and IV correspond to poses of the first objects la - ld between the start pose SP and the target pose ZP.
- the first objects la - V shown in FIG. 5 are shown one above the other. However, only a single first object la - ld is guided to the second object 2 at any one time.
- the first objects 1a-ld are moved by the robot device 3, even if they are not shown in FIG. 5 for the sake of clarity.
- the first objects 1a-1d are all guided along the same optimized movement sequence 8 into the target pose ZP.
- all first objects 1a-ld are arranged correctly in the bore opening 9 of the second object 2.
- the optimized sequence of movements thus makes it possible to reliably guide the first objects la - ld into their target pose ZP, independently of uncertainties in the poses of the first objects 1a and independently of the uncertainties in the pose of the robot device 3.
- Fig. 6 shows a device 4 for determining an opti mized movement of a robot device 3 according to egg ner embodiment.
- the device 4 comprises a simulati onsaku 5 and a determination unit 6, which example, via an internal line 7 are interconnected.
- the simulation unit 5 is suitable for simulating movement sections of the robot device 3, taking into account the uncertainty of the pose of the first object 1, la - ld and / or the uncertainty of the pose of the robot device 3.
- the determination unit 6 is for determining the optimized movement sequence of the robot device 3 taking into account the simulated movement sections and of Boundary conditions which specify at least the start pose SP and the target pose ZP of the first object 1, la-ld.
- the device 4 is suitable for carrying out the method for determining the optimized movement sequence according to the first and / or second embodiment (FIGS. 3 and 4).
- the cost function may also, in addition or as an alternative to specifying the duration of performing the simu lated movement section, for example, a Energyver consumption of performing the simulated movement section and / or a force occurring on the first object to specify.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP18157895.6A EP3530418A1 (de) | 2018-02-21 | 2018-02-21 | Verfahren und vorrichtung zum bestimmen eines optimierten bewegungsablaufs einer robotereinrichtung |
PCT/EP2019/052607 WO2019162070A1 (de) | 2018-02-21 | 2019-02-04 | Verfahren und vorrichtung zum bestimmen eines optimierten bewegungsablaufs einer robotereinrichtung |
Publications (1)
Publication Number | Publication Date |
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EP3727767A1 true EP3727767A1 (de) | 2020-10-28 |
Family
ID=61258164
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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EP18157895.6A Withdrawn EP3530418A1 (de) | 2018-02-21 | 2018-02-21 | Verfahren und vorrichtung zum bestimmen eines optimierten bewegungsablaufs einer robotereinrichtung |
EP19704263.3A Pending EP3727767A1 (de) | 2018-02-21 | 2019-02-04 | Verfahren und vorrichtung zum bestimmen eines optimierten bewegungsablaufs einer robotereinrichtung |
Family Applications Before (1)
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EP18157895.6A Withdrawn EP3530418A1 (de) | 2018-02-21 | 2018-02-21 | Verfahren und vorrichtung zum bestimmen eines optimierten bewegungsablaufs einer robotereinrichtung |
Country Status (4)
Country | Link |
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US (1) | US20210046648A1 (de) |
EP (2) | EP3530418A1 (de) |
CN (1) | CN111712357B (de) |
WO (1) | WO2019162070A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6933167B2 (ja) * | 2018-03-14 | 2021-09-08 | オムロン株式会社 | ロボットの制御装置 |
DE102019128583B4 (de) * | 2019-10-23 | 2022-03-10 | Franka Emika Gmbh | Optimierungsmodi für Steuerprogramme eines Robotermanipulators |
US20220203523A1 (en) * | 2020-12-28 | 2022-06-30 | Cloudminds Robotics Co, Ltd. | Action learning method, medium, and electronic device |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0605050A3 (de) * | 1992-12-28 | 1997-02-26 | Koninkl Philips Electronics Nv | Steuerung von Maschinenbewegung unter Zugrundelegung eines adaptiven kinematischen Modells. |
US8577499B2 (en) * | 2008-11-19 | 2013-11-05 | Abb Technology Ab | Method and a device for optimizing a programmed movement path for an industrial robot |
US9381643B2 (en) * | 2014-07-03 | 2016-07-05 | GM Global Technology Operations LLC | Dynamical system-based robot velocity control |
DE102016004841B4 (de) * | 2016-04-24 | 2018-01-04 | Kastanienbaum GmbH | Verfahren und Vorrichtung zum Festlegen eines Bewegungsablaufs für einen Roboter |
DE102016213999B3 (de) * | 2016-07-29 | 2017-07-27 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zum Planen der Trajektorie eines Roboterarms |
CN107505841B (zh) * | 2017-08-31 | 2021-02-05 | 电子科技大学 | 一种基于干扰估计器的机械臂姿态鲁棒控制方法 |
-
2018
- 2018-02-21 EP EP18157895.6A patent/EP3530418A1/de not_active Withdrawn
-
2019
- 2019-02-04 EP EP19704263.3A patent/EP3727767A1/de active Pending
- 2019-02-04 US US16/968,636 patent/US20210046648A1/en active Pending
- 2019-02-04 CN CN201980014824.5A patent/CN111712357B/zh active Active
- 2019-02-04 WO PCT/EP2019/052607 patent/WO2019162070A1/de unknown
Also Published As
Publication number | Publication date |
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WO2019162070A1 (de) | 2019-08-29 |
US20210046648A1 (en) | 2021-02-18 |
EP3530418A1 (de) | 2019-08-28 |
CN111712357B (zh) | 2023-06-27 |
CN111712357A (zh) | 2020-09-25 |
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