EP3946829A1 - Préhenseur de robot et procédé pour faire fonctionner un préhenseur de robot - Google Patents

Préhenseur de robot et procédé pour faire fonctionner un préhenseur de robot

Info

Publication number
EP3946829A1
EP3946829A1 EP20717767.6A EP20717767A EP3946829A1 EP 3946829 A1 EP3946829 A1 EP 3946829A1 EP 20717767 A EP20717767 A EP 20717767A EP 3946829 A1 EP3946829 A1 EP 3946829A1
Authority
EP
European Patent Office
Prior art keywords
active elements
drive unit
robot gripper
sensor
area
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.)
Withdrawn
Application number
EP20717767.6A
Other languages
German (de)
English (en)
Inventor
Andreas SPENNINGER
Tim Rokahr
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.)
Franka Emika GmbH
Original Assignee
Franka Emika 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 Franka Emika GmbH filed Critical Franka Emika GmbH
Publication of EP3946829A1 publication Critical patent/EP3946829A1/fr
Withdrawn legal-status Critical Current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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • G05B2219/39355—Observer, disturbance observer
    • 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
    • G05B2219/39487—Parallel jaws, two fingered hand
    • 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
    • G05B2219/39527—Workpiece detector, sensor mounted in, near hand, gripper
    • 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
    • G05B2219/40269—Naturally compliant robot arm
    • 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
    • G05B2219/40559—Collision between hand and workpiece, operator
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50391—Robot

Definitions

  • the invention relates to a robot gripper and a method for operating a
  • Robot grippers also called: “gripper” or “gripping system” or “effector” or “end effector” are known in the prior art. Robot grippers are typically arranged at the distal end of robot manipulators and perform tasks such as gripping and / or holding objects / tools.
  • a robot gripper typically includes a drive unit, a drive train (also called a kinematic system) that moves the active elements, a mechanical interface for releasably and firmly connecting the robot gripper, for example to a robot manipulator, an energy interface for supplying the energy required for operating the robot gripper , as well as a control signal interface for
  • Active elements are those elements of the robot gripper which, when gripping and holding an object, have direct contact with the object and can exert a gripping force on the object.
  • a robotic gripper can hold an object. A distinction is made here between, for example, different pairs of effects: pairing of forces, pairing of shapes, pairing of substances.
  • pairing of forces e.g., a force that is applied to the object.
  • pairing of shapes e.g., a gripping force
  • pairing of substances e.g., pairing of substances.
  • Configurations of the active elements themselves for example as gripper jaws (in the case of a parallel jaw gripper) or as multi-link fingers (in the case of an artificial hand)
  • the drive unit generates what is required for the gripping or holding process
  • the drive unit drives the output train and thus generates corresponding movements of the active elements. This makes it possible for the robot gripper to open, close and hold an object.
  • the output train is used to transmit the generated by the drive unit
  • Kinetic energy to the active elements It thus converts a movement of the drive unit into an output movement of the robot gripper, ie into a corresponding movement of the active elements.
  • the object of the invention is to provide a robot gripper which enables operation with improved safety.
  • the drive unit AE converts energy provided to the robot gripper (for example pneumatic energy, hydraulic energy or electrical energy) into mechanical energy, ie into a movement.
  • This movement is advantageously a translational and / or a rotational movement.
  • the drive unit is advantageously an electric motor that converts the provided electrical energy (voltage U, current I) into a mechanical rotation converts.
  • other drive units such as a hydraulic motor or a pneumatic motor, are of course also suitable for driving the output train.
  • the robot gripper advantageously has a plurality of drive units which each drive one or more active elements WE n .
  • the drive unit AE can in particular comprise a transmission for stepping down or stepping up a rotational movement.
  • the output train AS (also called: kinematic system) transmits the mechanical movement generated by the drive unit AE to one or more active elements WE n , so that they move accordingly.
  • the output train AS particularly advantageously comprises a belt, in particular a toothed belt.
  • the working areas AB n of the active elements WE n each indicate an area which is arranged fixed to the body relative to the robot gripper and in which the active elements WE n can be moved and which they can reach.
  • the working areas AB n are thus defined in particular by the area that is spanned between the active elements WE n when the active elements WE n are opened to the maximum. Since the work areas AB n are defined in a fixed manner relative to the robot gripper, the work areas AB n always remain the same regardless of the position and location of the robot gripper.
  • a position q AE of the drive unit AE is / are determined with a position sensor and / or a position q AS of the drive train is determined with a position sensor and / or a drive unit speed q AE of the drive unit AE is determined with a speed sensor / or with a speed sensor one
  • the output train speed q AS of the output train AS is determined and / or a torque t AE of the drive unit AE is determined with a torque sensor and / or a torque T AS in the output train AS is determined with a torque sensor and / or a motor current I M of an electric motor of the drive unit AE is determined with a current sensor determined.
  • No sensors are advantageously arranged on the active elements WE n . This eliminates the need for a corresponding cable connection to sensors on the active elements WE n .
  • the active elements WE n are advantageously also exchangeable. So can be beneficial
  • Different types of active elements WE n are connected to the output train AS, for example, to enable different active pairs, such as force pairing, shape pairing, material pairing when gripping or holding.
  • the provision of the areas B n within the work areas AB n can be done, for example, by appropriate inputs on the control unit, by reading out a corresponding data memory of the control unit, by data transmission to the control unit via a data interface of the robot gripper, by a manual or automated "teach-in “Process on the robot gripper can be carried out after the following storage in a data memory of the control unit.
  • control unit is designed and set up in such a way that collision monitoring for the active elements WE n is only carried out if the respective active elements WE n are outside the assigned areas B n and the collision monitoring for the active elements WE n is deactivated when the respective active elements WE n are located Active elements WE n are at least partially located within the respectively assigned areas B n .
  • the areas B n are advantageously defined as a function of an external geometry AG of an object to be gripped.
  • the outer geometry AG can be defined by the diameter of the object, for example in the case of a spherical object.
  • the size of the difference area DB P depending on the task, applicable safety standards (e.g. trapping protection) and / or the
  • Sensitivity / breaking strength of the object to be gripped selected.
  • the collision monitoring / collision detection is consequently only carried out outside the areas B n , ie outside a zone (difference area DB P ) around an object which is optimally positioned for grasping.
  • collision monitoring / collision detection is deactivated within this zone.
  • the working areas AB n are each advantageously a three-dimensional or a two-dimensional or a one-dimensional area.
  • the areas B n are each advantageously a three-dimensional or a two-dimensional or a one-dimensional area.
  • the area B of this development is correspondingly specified by a maximum distance limit value A B , depending on the task, and thus contains all distances A from A M IN to distance A B.
  • the active elements (gripper jaws) of the parallel jaw gripper particularly preferably have no sensors.
  • the process-based activation or deactivation of the collision monitoring depending on a current position of the active elements WE n and depending on the defined areas B n is basically independent of whether an object is arranged relative to the robot gripper in such a way that it is also gripped by the robot gripper can be. That is, even if no object is arranged between the active elements WE n , collision monitoring for the active elements WE n is only carried out if the respective active elements WE n are outside the assigned area B n and the collision monitoring for the active elements WE n is deactivated when the respective active elements WE n are at least partially within the assigned area B n .
  • the robot gripper has a sensor with which the presence or absence of an object in a gripping area of the robot gripper can be detected, ie that the sensor detects that an object is arranged in such a way that it is Robot gripper can currently also be gripped. If this sensor detects an object in the gripping area, the collision monitoring for those active elements WE n is then deactivated, provided that they are at least partially within the predefined areas B n . If this sensor does not detect an object in the gripping area, the collision monitoring is advantageously not deactivated within the areas B n . In this case, the collision monitoring is carried out in the entire work area of the
  • Robot gripper executed.
  • the sensor for determining an object in the gripping area of the robot gripper is advantageously, for example, a camera sensor, an ultrasonic sensor, a laser sensor
  • Infrared sensor a capacitive sensor, an inductive sensor, a microwave sensor, or a combination thereof.
  • the dynamic model is a mathematical model that allows the components of the robot gripper and their dynamic interactions to be simulated.
  • the dynamic model is based in particular on the control unit for controlling and regulating the drive unit.
  • the collision monitoring for the active elements WE n is advantageously carried out using a disturbance variable observer, in particular by a power observer or a pulse observer or a speed observer or a
  • variables: q AE , q AE or q AS , q AS can also be determined on the basis of corresponding time derivatives from the variables: q AE or q AS .
  • the collision monitoring is advantageously carried out on the basis of a comparison of a setpoint and an actual position for q AE , q AS .
  • the operation is selected from the following options from a non-exhaustive list:
  • the teach-in process advantageously includes the following steps:
  • B n is preferably stored on a storage unit of the robot gripper.
  • a suitable selection of the areas B n enables, in particular, clamping quantity travel when the gripper is operated in collaboration with a person prevented or at least significantly reduced during the automated gripping process of the robot gripper.
  • Collision monitoring is deactivated when the gripper jaws move further towards one another.
  • the 2.5 mm on each side of the ball are advantageously dimensioned in such a way that no human finger can fit between the gripper jaw and the ball.
  • the proposed method thus improves, in particular, the safety in the case of a collaboration between the robot gripper and an operator.
  • the robot gripper can, if it is connected to a manipulator of a robot, receive control commands from a central control unit of the robot.
  • Control commands are transmitted to the control unit of the robot gripper.
  • the control unit of the robot gripper implements these control commands and controls
  • Collision monitoring and the activation or deactivation of the collision monitoring according to the invention is carried out locally on the control unit of the robot gripper.
  • the control unit of the robot gripper advantageously transmits recognized collisions for the active elements WE n to a central control unit of the robot.
  • a robot gripper comprising: at least one drive unit AE for driving a drive train AS with a number N of active elements WE n , the active elements WE n each being fixed to the body relative to the
  • Robotic grippers have arranged work areas AB n in which the active elements WE n are each movable and which they can reach; a control unit for
  • Control and regulation of the at least one drive unit AE; and a sensor system connected to the control unit for determining forces / moments F ext, WEn (t) externally applied to the individual active elements WE n , with n 1, 2, ..., N and N>1; wherein the control unit is designed and set up such that for the
  • Active elements WE n collision monitoring can be carried out; the collision monitoring for the active elements WE n is only carried out if the respective
  • Active elements WE n are located outside of a predetermined assigned area B n lying within the working area AB n ; the collision monitoring for the active elements WE n is deactivated when the respective active elements WE n are at least partially within the assigned area B n ; and if a collision event is detected for an active element WE n , the drive unit is activated according to a predetermined operation.
  • the drive unit AE is advantageously an electric motor or a hydraulic actuator or a pneumatic actuator.
  • the drive unit AE can also include a gear unit.
  • the working areas AB n are each advantageously a three-dimensional or a two-dimensional or a one-dimensional area.
  • the areas B n are each advantageously a three-dimensional or a two-dimensional or a one-dimensional area.
  • the robot gripper is as a
  • the working area AB is advantageously defined as the distance range from a minimum distance A M
  • N to a maximum distance A M AX that the active elements WE n i, 2 can assume from one another.
  • the area B of this development is correspondingly specified by a maximum distance limit value A B , depending on the task at hand, and thus contains all distances A from A M
  • the active elements (gripper jaws) of the parallel jaw gripper particularly preferably have no sensors.
  • the sensor system has a or several of the following sensors: a position sensor for determining a position q AE of the drive unit AE and / or a position sensor for determining a
  • Control unit designed and set up in such a way that the collision monitoring takes place on the basis of a predetermined dynamic model of the robot gripper.
  • Collision monitoring is carried out using a disturbance variable observer
  • a performance observer or an impulse observer or a speed observer or an acceleration observer in particular by a performance observer or an impulse observer or a speed observer or an acceleration observer.
  • One or more of the measured variables are advantageously used for collision monitoring: q AE , q AS , q AE , q AE, q AS , q AS, t AE , t AS , l M.
  • Quantities: q AE , q AE or q AS , q AS can also be determined on the basis of corresponding time derivatives from the quantities: q AE or q AS .
  • the drive unit AE is a motor which is coupled to the output strand AS via a transmission, and that a torque sensor for determining a torque T AS im
  • Output train AS is connected between gearbox and output train.
  • the motor is advantageously an electric motor.
  • the control unit is advantageously designed and set up in such a way that the operation is selected from the following options from a non-exhaustive list: Stopping the drive unit AE,
  • the control unit advantageously comprises a processor, a memory unit and an interface for specifying setpoint control variables, for example from a central computer for controlling a
  • the invention finally relates to a robot or humanoid with a
  • Robotic gripper as described above.
  • the robot gripper comprising: at least one drive unit AE for driving a drive train AS with a number N of active elements WE n , the active elements WE n each being arranged one body-fixed relative to the robot gripper
  • the active elements WE n each being arranged one body-fixed relative to the robot gripper
  • Have work area in which the active elements WE n are movable and they can achieve a control unit for controlling the drive unit AE, and a sensor system connected to the control unit for determining forces / torques F ext, WEn (t) externally applied to the individual active elements WE n , with n 1, 2, ... , N and N> 1.
  • the control unit is configured and adapted for operative elements WE n a collision monitoring autonomously and locally executable (that is, without requiring an external control unit or an external processor), and that when a working element WE n detected collision event the drive unit according to a predetermined Operation is controlled autonomously and locally.
  • the method comprises the following steps, which are carried out when the robot gripper is in operation, in particular when the robot gripper grips an object.
  • a first step 201 is carried out for the operating elements WE n each providing a defined area B n within the associated working area AB n.
  • the control unit takes place in step 202
  • the robot gripper enables collision monitoring to be carried out autonomously for the
  • Active elements WE n when the respective active elements WE n are at least partially within area B.
  • the control unit of the robot gripper advantageously generates a collision signal if a collision is detected for one of the active elements WE n .
  • Control unit of the robot gripper a deactivation signal if the
  • the robot gripper advantageously provides the collision signal and / or the deactivation signal to a
  • Interface ready so that they can be forwarded to external control units.
  • the sensor system 105 comprises a position sensor for determining a motor position q AE of the electric motor, a current sensor for determining a Motor current I AE of the electric motor and a torque sensor connected between the transmission 110 and the output train 102 for determining the torque T AS .
  • the measured variables q AE , I AE and T AS are made available to the control unit 104.
  • the parallel jaw gripper 100 furthermore has an interface 11 for electrical energy and a control signal from an external control unit.
  • the interface 1 1 1 is connected to the control unit 104 by at least one signal line 1 12 and at least one electrical line 1 13.
  • the interface 1 1 1, for example
  • Control signals from a central control unit of the robot and electrical energy for the parallel jaw gripper 100 are provided.
  • This collision monitoring is always carried out independently of control commands, for example an external robot malfunction.
  • the area B i.e. the area in which the collision monitoring
  • the active elements particularly preferably have (Gripper jaws) of the parallel jaw gripper does not pick up any sensors.
  • a ball in cross section
  • the gripper jaws 103a, 103b each in the position of their maximum deflection, i.e. their maximum distance.
  • the maximum distance between the gripper jaws shown defines the working area AB.
  • Area B lying within working area AB specifies the area in which collision monitoring is deactivated. The area B is present by the
  • Diameter D AG of the ball and defined by a safety zone DB / 2 on both sides of the ball.
  • Collision signal provided at the interface 1 1 1 for forwarding to an external control unit.
  • the collision monitoring in the control unit 104 takes place on the basis of a predetermined dynamic model of the parallel jaw gripper 100

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un préhenseur de robot (100) ainsi qu'un procédé pour faire fonctionner un préhenseur de robot (100) de ce type, ledit préhenseur de robot (100) comprenant : au moins une unité d'entraînement AE (101) destinée à entraîner une chaîne cinématique AS (102) comportant un certain nombre N d'éléments actifs WEn (103), chaque élément actif WEn (103) présentant une zone de travail ABn agencée de manière liée au corps relativement au préhenseur de robot, zone de travail dans laquelle chaque élément actif WEnpeut se déplacer et qu'il peut atteindre ; une unité de commande (104) destinée à commander ladite au moins une unité d'entraînement AE (101) et un système de détection (105) relié à l'unité de commande (104) et destiné à déterminer des forces/couples Fext,WEn(t) qui s'exercent de manière externe sur les éléments actifs WEn (103) individuels, n = 1, 2, …, N et N ≥ 1; l'unité de commande (104) étant conçue et réalisée de sorte à permettre une surveillance de collision pour les éléments actifs WEn (103) et à activer l'unité d'entraînement (AE (101) selon une opération prédéfinie, en cas d'événement de collision reconnu pour un élément actif WEn (103), ledit procédé comprenant les étapes suivantes : fournir (201) pour les éléments actifs WEn, dans chaque cas une zone Bn définie, à l'intérieur de la zone de travail ABn, et n'effectuer la surveillance de collision pour les éléments actifs WEn (103) que si chaque élément actif WEn (103) se situe en dehors de la zone B associée et désactiver la surveillance de collision pour les éléments actifs WEn, si chaque élément actif WEn se situe au moins en partie à l'intérieur de la zone Bn associée.
EP20717767.6A 2019-03-27 2020-03-19 Préhenseur de robot et procédé pour faire fonctionner un préhenseur de robot Withdrawn EP3946829A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019107851.2A DE102019107851B4 (de) 2019-03-27 2019-03-27 Robotergreifer sowie Verfahren zum Betrieb eines Robotergreifers
PCT/EP2020/057544 WO2020193340A1 (fr) 2019-03-27 2020-03-19 Préhenseur de robot et procédé pour faire fonctionner un préhenseur de robot

Publications (1)

Publication Number Publication Date
EP3946829A1 true EP3946829A1 (fr) 2022-02-09

Family

ID=70227976

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20717767.6A Withdrawn EP3946829A1 (fr) 2019-03-27 2020-03-19 Préhenseur de robot et procédé pour faire fonctionner un préhenseur de robot

Country Status (7)

Country Link
US (1) US20220184812A1 (fr)
EP (1) EP3946829A1 (fr)
JP (2) JP2022526351A (fr)
KR (1) KR20220020249A (fr)
CN (1) CN113631331A (fr)
DE (1) DE102019107851B4 (fr)
WO (1) WO2020193340A1 (fr)

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JP7496609B2 (ja) 2020-09-02 2024-06-07 株式会社Kmc センサシステム、子タグ及び情報処理プログラム

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WO2020193340A1 (fr) 2020-10-01
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JP2024023695A (ja) 2024-02-21
DE102019107851A1 (de) 2020-10-01
US20220184812A1 (en) 2022-06-16
CN113631331A (zh) 2021-11-09

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