EP4313506A1 - Appareil de manipulation commandé par force pour usinage de surface assisté par robot - Google Patents

Appareil de manipulation commandé par force pour usinage de surface assisté par robot

Info

Publication number
EP4313506A1
EP4313506A1 EP22717564.3A EP22717564A EP4313506A1 EP 4313506 A1 EP4313506 A1 EP 4313506A1 EP 22717564 A EP22717564 A EP 22717564A EP 4313506 A1 EP4313506 A1 EP 4313506A1
Authority
EP
European Patent Office
Prior art keywords
force
tool
contact
flange
manipulated variable
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
EP22717564.3A
Other languages
German (de)
English (en)
Inventor
Ronald Naderer
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.)
Ferrobotics Compliant Robot Technology GmbH
Original Assignee
Ferrobotics Compliant Robot Technology 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 Ferrobotics Compliant Robot Technology GmbH filed Critical Ferrobotics Compliant Robot Technology GmbH
Publication of EP4313506A1 publication Critical patent/EP4313506A1/fr
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
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37405—Contact detection between workpiece and tool, probe, feeler
    • 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
    • G05B2219/39529—Force, torque sensor in wrist, end effector
    • 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
    • G05B2219/39577—Active electromechanical compliance for wrist

Definitions

  • the present invention relates to a force-controlled handling device (handling device) for automated, robot-assisted surface treatment.
  • handling devices can be used in particular as an interface between the manipulator (robot) and the machine tool.
  • a machine tool e.g., a grinder, a drill, a milling machine, a polisher, and the like
  • a manipulator such as an industrial robot.
  • the machine tool can be coupled in different ways to the so-called TCP (Tool Center Point) of the manipulator; the manipulator can usually adjust the position and orientation of the TCP practically at will in order to move a machine tool on a trajectory, e.g. parallel to a surface of a workpiece.
  • Industrial robots are usually position-controlled, which allows precise movement of the TCP along the desired trajectory.
  • the process force (eg grinding force) needs to be regulated in many applications, which is often difficult to achieve with sufficient accuracy using conventional industrial robots.
  • the large and heavy arm segments of an industrial robot have too much inertia for a controller (closed-loop controller) to react quickly enough to fluctuations in the process force.
  • a small (and light) handling device can be arranged between the TCP of the manipulator and the machine tool compared to the industrial robot, which couples the TCP of the manipulator with the machine tool.
  • the handling device comprises in particular a linear actuator and only regulates the process force (i.e.
  • the handling device can use the linear actuator to compensate for inaccuracies in the position and shape of the workpiece to be machined, as well as inaccuracies in the trajectory of the manipulator (within certain limits).
  • the quality of the process result is highly dependent on whether the process force during the treatment process also remains within a desired, specified range. For example, during a grinding process, a grinding force (process force) that is too high (even just for a short time) can severely damage or even destroy the workpiece and/or cause high repair costs.
  • the inventor has set himself the task of developing an improved handling device with force control, which makes it possible to largely ensure compliance with the specified process force.
  • An exemplary embodiment relates to a handling device (handling apparatus) with a linear actuator which acts between a first flange which can be connected to a manipulator and a second flange on which a tool or a machine tool with a tool can be mounted.
  • the linear actuator exerts a force on the second flange or an end stop according to a manipulated variable.
  • the device further comprises a force sensor, which is coupled between the second flange and the tool and is designed to measure a force exerted by the handling device on the tool when the tool contacts a surface.
  • a control unit has a status observer, which is designed to determine an estimated value for the force exerted by the handling device on the tool based on the manipulated variable.
  • the control unit is further configured to detect contact between the tool and the surface, with the manipulated variable being adjusted based on the estimated value and a setpoint as long as no contact is detected, whereas the manipulated variable is adjusted based on the measured force and the setpoint as long as a contact is detected.
  • Another embodiment relates to a method for controlling a handling device. This comprises a linear actuator which acts between a first flange which can be connected to a manipulator and a second flange on which a tool or a machine tool with a tool can be mounted.
  • the method includes activating the linear actuator with a manipulated variable, so that it exerts a force on the second flange or an end stop in accordance with the manipulated variable.
  • the method further includes detecting contact between the tool and a surface and measuring - when there is contact between the tool and a surface - a force exerted by the handling device on the tool using a force sensor which is placed between the two flanges and the tool is coupled. Furthermore, an estimated value for the force exerted by the handling device on the tool is determined based on the manipulated variable. As long as no contact is detected, the manipulated variable is adjusted based on the estimate and a target value, and as long as contact is detected, the manipulated variable is adjusted based on the measured force and the target value.
  • Figure 1 is a general example of a robotic grinding system including an industrial robot, a manipulator with force control, and a grinding machine.
  • FIG. 2 illustrates an exemplary implementation of the handling device (without the associated control unit).
  • FIG. 3 illustrates an example of a control unit for the handling device in which the force control is implemented.
  • FIG. 4 illustrates an example of a method for controlling a handling device for robot-assisted surface treatment.
  • a robot-assisted grinding device comprises a manipulator 80, for example an industrial robot, and a grinding machine 50 with a rotating grinding tool 51.
  • the grinding machine 50 is coupled to the so-called tool center point (TCP) of the manipulator 1 via a linear actuator 100 , which is commonly referred to as a handling device.
  • TCP tool center point
  • the TCP is not a point but a vector and can be described, for example, by three spatial coordinates (position) and three angles (orientation).
  • position and orientation of the TCP is sometimes referred to as a "pose".
  • the orientation of the TCP as a function of time defines the movement of the grinding tool, which is called the trajectory.
  • the center point of the robot's end effector flange is often defined as the TCP, but this is not necessarily the case.
  • the TCP can be any point (and theoretically also be outside the robot) whose position and orientation can be set by the robot.
  • the TCP can also define the origin of the tool coordinate system.
  • the manipulator In the case of an industrial robot with six degrees of freedom, the manipulator
  • the 80 can be made up of four segments 82, 83, 84 and 85, which are connected via joints Gn, G12 and G13, respectively.
  • the first segment 82 is mostly rigid with a foundation
  • Joint G11 connects segments 82 and 83.
  • Joint G11 can be 2-axis and allow segment 83 to rotate about a horizontal axis of rotation (elevation angle) and a vertical axis of rotation (azimuth angle).
  • Joint G12 connects segments 83 and 84 and allows pivotal movement of segment 84 relative to the location of segment 83.
  • Joint G13 connects segments 84 and 85. Joint G13 may be 2-axis and therefore (similar to joint Gn) allow pivotal movement in two directions.
  • the TCP has a fixed position relative to segment 85, which usually also includes a rotary joint (not shown), which enables the end effector flange 86 arranged on segment 85 to rotate about a longitudinal axis A of segment 85 (in Fig. 1 as a dot-dash line shown, also corresponds to the axis of rotation of the grinding tool in the example shown).
  • a rotary joint (not shown), which enables the end effector flange 86 arranged on segment 85 to rotate about a longitudinal axis A of segment 85 (in Fig. 1 as a dot-dash line shown, also corresponds to the axis of rotation of the grinding tool in the example shown).
  • Each axis of a joint is assigned an actuator (eg an electric motor), which can cause a rotational movement about the respective joint axis.
  • the actuators in the joints are controlled by a robot controller 70 according to a robot program.
  • Various industrial robots/manipulators and associated controls are known per se and are therefore not explained further
  • the manipulator 80 is usually position-controlled, i.e. the robot controller can determine the pose (location and orientation) of the TCP and move it along a predefined trajectory.
  • the longitudinal axis of the segment 85 on which the TCP lies is denoted by A in FIG.
  • the pose of the TCP also defines the pose of the grinding machine 50 (and also the grinding wheel 51).
  • the handling device 100 is used to set the contact force (process force) between the tool (e.g. grinding wheel 51) and the workpiece 60 to a desired value during the grinding process.
  • Direct force control by the manipulator 80 is generally too imprecise for grinding applications, since the high mass inertia of the segments 83 to 85 of the manipulator 80 means that force peaks (e.g. when the grinding tool is placed on the workpiece 60) can be quickly compensated for with conventional manipulators is practically not possible.
  • the robot controller 70 is designed to regulate the pose (position and orientation) of the TCP of the manipulator 80, while the force regulation is accomplished solely with the aid of the handling device 100 be.
  • the contact force FK between the grinding tool (grinding wheel 51 of the grinding machine 50) and the workpiece 60 can be adjusted with the aid of the handling device 100 and a force control (which can be implemented in the controller 70, for example) such that the contact force FK (in Direction of the longitudinal axis A) between the grinding wheel 51 and the workpiece 60 corresponds to a predefinable setpoint.
  • the contact force FK is a reaction to the actuator force FA, with which the handling device 100 presses on the workpiece surface. If there is no contact between workpiece 60 and tool 51, the actuator contained in handling device 100 (see also Fig.
  • the position control of the manipulator 80 (which can also be implemented in the controller 70) can work completely independently of the force control of the handling device 100.
  • the latter is not responsible for the positioning of the grinding machine 50, but only for setting and maintaining the desired contact force FK during the grinding process and for detecting contact between the tool 51 and the workpiece 60.
  • Contact can be easily detected, for example, by the linear actuator contained in the handling device has moved out of the end position (actuator deflection a is smaller than the maximum deflection aMA at the end stop).
  • the actuator 153 included in the handling device 100 can be a pneumatic actuator, for example a double-acting pneumatic cylinder.
  • other pneumatic actuators can also be used, such as bellows cylinders and air muscles.
  • direct electric drives can also be considered.
  • the direction of action of the actuator/handling device 100 and the axis of rotation of the grinding machine 50 do not necessarily have to coincide with the longitudinal axis A of the segment 85 of the manipulator 80 .
  • the force control in a conventional manner using a control valve, a controller (eg implemented in the controller 70) and a compressed air reservoir or compressor can be implemented.
  • the actuator 2 can contain an inclination sensor (not shown) or this information can be determined based on the joint angles of the manipulator 80. The inclination determined is taken into account by the force controller (see also the explanations for FIG. 3).
  • the handling device 100 not only enables a certain mechanical decoupling between the manipulator 80 and the workpiece 60, but is also able to compensate for inaccuracies in the positioning of the TCP.
  • the handling device includes a distance sensor ( ⁇ displacement sensor), which can be designed, for example, as an inductive sensor or as a potentiomenter.
  • the distance sensor is essentially designed to measure the deflection ( ⁇ displacement) of the linear actuator 153 .
  • the linear actuator can couple the two flanges 101 and 102 .
  • the change in the distance between the two flanges 101 and 102 corresponds to the change in the deflection of the linear actuator 153.
  • the (in Fig. 2) upper flange 102 can be connected (e.g.
  • the machine tool 50 can be mounted on the lower flange 101 (directly or indirectly), with a force sensor 150 being arranged between the handling device and the machine tool 50 in the example shown.
  • This force sensor 150 can be configured as a load cell, for example, and enables the force acting between the handling device and the machine tool 50 to be measured directly.
  • a bellows 121 can protect the parts inside the handling device against dust and the like, while allowing movement in the direction of action of the pneumatic cylinder 153.
  • the bellows 121 acts like a spring, whose characteristic curve can be taken into account in the force control.
  • the (spring) force component caused by the bellows 121 can be determined, for example, based on the deflection a measured by the distance sensor 151 . In the simplest case, the (spring) force component caused by the bellows 121 is proportional to the deflection (with linear spring characteristics). In some exemplary embodiments, the actual spring characteristic of the bellows 121 is determined using calibration measurements.
  • the force sensor 150 is not inside the handling device 100 (between the pneumatic cylinder 153 and the flange 101), but on the outside of the flange 101, so that the force sensor only measures the force FM that acts between the machine tool 50 and the handling device. If there is no contact with the workpiece, in the example shown the force sensor 150 would only measure the weight of the machine tool 50, regardless of whether and with what force FA the pneumatic cylinder 153 presses against the end stop. That is, in the examples described here - in the absence of contact - the direct Force measurement (force FM) and indirect force measurement (force r ⁇ A) are not redundant, but basically different forces are measured.
  • a + AF also applies to the directly measured force, with the offset AF including all disturbing forces (e.g. friction, hysteresis effects, etc.).
  • FIG. 3 shows an example of a control unit that can be used to operate the handling device 100 .
  • the control unit from Fig. is a control unit that can be used to operate the handling device 100 .
  • state observer 160 also called state estimator (state estimato), to which the target or actual manipulated variable (controlled variable) is supplied, which in the present example represents the target value or the measured actual value of the cylinder pressure.
  • the status observer 160 also receives sensor data (e.g. the measured deflection a of the handling device 100, the acceleration of the handling device, the inclination of the handling device to the vertical, etc.) and system parameters (e.g.
  • the weight of the machine tool mounted on the handling device and is designed to do so , to estimate a state of the handling device from the information supplied (sensor data and manipulated variable), in particular the force FA + AF (estimated actual process force) effectively provided by the actuator (pneumatic cylinder) which either hits the end stop (if there is no contact) or the workpiece (on contact) acts.
  • the state observer can contain mathematical models that model the physical behavior of the handling device (eg spring characteristic of the bellows, friction, etc.).
  • the state observer 160 is also designed to detect and signal contact between the machine tool and the tool. Since the actuator (pneumatic cylinder) presses against its end stop if there is no contact, contact can be detected simply by the actuator moving away from the end stop (deflection a smaller than the maximum deflection aMAx at the end stop).
  • a further component of the control unit from FIG. 3 is the process control and monitoring unit 161 (process controller and monitoring unit). This is where the regulation of the process force takes place.
  • the process control and monitoring unit 161 receives the estimated actual process force and information regarding contact from the state observer 160 as well as system parameters (e.g. weight of the machine tool 50), the target process force Fs and the actual process force FM measured directly by the force sensor 150 , which, as discussed above, is only a meaningful measured variable when there is contact.
  • the manipulated variable (controlled variable ) with which the actuator is controlled is calculated using a control algorithm ( in the case of a pneumatic actuator, this is, as mentioned, the cylinder pressure p). Suitable control algorithms are known per se and are therefore not discussed further here.
  • the manipulated variable e.g. a pressure in the case of pneumatic actuators, an actuator current in the case of electromechanical actuators
  • the process control and monitoring unit 161 is further designed to select the "source” for the actual process force (force sensor 150, state observer 160) depending on whether a contact was detected or not. If there is no contact, the status observer 160 is selected, and if contact is detected, the force sensor 150. Ideally, both sources should—if contact is detected—supply the same force value, but influencing parameters determined by calibration flow into the estimated value FA+AF, which change over time whereas the directly measured value FM always measures the actual force (assuming the force sensor 150 is functioning properly). [0030] Plausibility check.
  • the process control and monitoring unit 161 can also be designed to carry out a plausibility check during a surface treatment process (ie upon contact) based on the directly measured force value FM and the force value FA+AF provided by the state observer. For this purpose, the process control and monitoring unit 161 can compare the two values FA+AF and FM and, in the event of discrepancies, report an error, for example. In some situations it is even possible to determine a (probable) cause for the deviation based on the deviation between the two values FA+AF and FM and their progression over time, and possibly taking into account other measured values such as the measured deflection a.
  • the directly measured force value FM no longer follows the value estimated by the condition observer, a probable cause is that the linear guide in the handling device is jammed or the friction is greatly increased. If the directly measured value FM follows the estimated value FA+AF with a smaller deviation, this can indicate that the friction in the pneumatic cylinder (actuator 153) or the linear guide (not shown) is slightly increased and maintenance should be carried out.
  • the exemplary embodiments relate to a system and a method for controlling a handling device with a first and a second flange and with a linear actuator which acts between the first flange and the second flange.
  • a manipulator e.g. to its end effector flange, cf. Fig.
  • the linear actuator can exert a force on the second flange while it is supported on the first flange (cf. FIG. 2, flanges 101 and 102, linear actuator 152).
  • the manipulated variable is air pressure; in the case of an electromechanical actuator, the manipulated variable can be the current flowing through the actuator.
  • a force sensor is arranged between the second flange and the tool, so that the force sensor exerted by the handling device on the tool in contact between the tool and a surface Force FM measures.
  • the contact force between the tool and the surface corresponds to a superimposition of the force FM and the weight force FG (depending on the angular position), which the weight of the machine tool and tool exerts on the surface.
  • an estimated value for the force FA+AF provided by the linear actuator is determined with a status observer, which can be implemented in a control unit, for example, based on the manipulated variable (e.g. setpoint pressure or actual pressure).
  • the control unit can also be designed to detect contact between a tool and a surface. Furthermore, the control unit is designed to set the manipulated variable (e.g.
  • the force information used for force control depends on whether contact is detected or not.
  • FIG. Fig. 4 relates to a method for controlling a handling device with a linear actuator (see Fig. 2, pneumatic cylinder 154) which is connected between a first flange (see Fig. 1, flange 102) that can be connected to a manipulator and a second flange (see Fig. 1 , Flange 101) acts on which a tool or a machine tool with a tool can be mounted.
  • the method includes activating the linear actuator with a manipulated variable (e.g.
  • the method further includes detecting a contact between the tool and the surface (see Fig. 4, step S2) and - in the event of contact between the tool and the surface - measuring a force FM exerted by the handling device on the tool using a force sensor which is mechanical between tween the second flange and the tool is coupled (see Fig. 4, step S3).
  • the method further includes (with or without contact with the surface) determining an estimated value FA+AF for the from the handling device to the tool force FM exerted based on the manipulated variable (see FIG. 4, step S4).
  • the manipulated variable is adjusted based on the estimated value and a target value if and as long as no contact is detected (see Fig. 4, step S6), and based on the measured force and the target value if and as long as contact is detected (see Fig. 4, step S5).
  • step S4 is executed regardless of whether a contact was detected or not. If there is no contact, the estimated value for the force is required in order to be able to set the force with which the linear actuator presses on the end stop. For a gentle contact, this force should be as small as possible (ideally zero or a few Newtons). When the tool touches the surface, the actuator moves away from the end stop and force control can then be based on the directly measured force FM. Nevertheless, the estimated value FA+AF is also determined during the surface treatment process (on contact) to validate the process and identify errors. Before contact occurs, the actuator presses on the end stop with as little (minimum) force as possible. Theoretically, this minimum force can be regulated to zero Newton. In practice, values below 10 Newtons or even below 1 Newton are used in order to be able to contact the surface very gently. Once there is contact, the target force can be increased at a defined rate until the desired process force (grinding force) is reached.
  • further sensor data relating to the state of the actuator and/or the handling device can flow into the determination of the estimated value (cf. FIG. 3, state observer 160), such as the deflection of the actuator, which can be measured, for example, with a potentiometer or an inductive displacement sensor that is coupled to the actuator.
  • the weight can also be taken into account in the direct and indirect force measurement.
  • the tilt angle Q can either be measured or calculated from the (generalized) coordinates of the manipulator's TCP.
  • the robot controller "knows" the angular position of the TCP and thus also the angular position of the handling device and the tool.
  • the force FM measured directly by means of a force sensor
  • the estimated value FA+AF determined by the condition observer
  • the logged data can be evaluated in order to check the validity of the process and/or to indicate any errors.
  • concrete errors can be determined, for example based on deviations between the directly measured force and the estimated value (and possibly other sensor data such as the actuator deflection). If e.g.
  • the measured force does not increase equally while there is contact with the surface, then it is very likely that a linear guide (e.g. arranged parallel to the actuator) or the actuator itself is stuck or at least the friction in the linear actuator or in of the linear guide is abnormally high. In this case, gentle contact can no longer be guaranteed the next time you touch the surface.
  • deviations between the force setpoint and the measured force can also be evaluated.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

Un mode de réalisation concerne un appareil de manipulation (« appareil de manipulation ») comprenant un actionneur linéaire qui agit entre une première bride qui peut être reliée à un manipulateur et une seconde bride à laquelle un outil ou une machine-outil ayant un outil peut être montée. Selon une grandeur réglante, l'actionneur linéaire exerce une force sur la seconde bride ou sur une butée d'extrémité. L'appareil comprend en outre un capteur de force qui est couplé entre la seconde bride et l'outil et est conçu pour mesurer une force exercée sur l'outil par l'appareil de manipulation lorsqu'il y a un contact entre l'outil et une surface. Une unité de commande comporte un observateur d'état qui est conçu pour déterminer, sur la base de la grandeur réglante, une valeur estimée de la force exercée sur l'outil par l'appareil de manipulation. L'unité de commande est également conçue pour détecter un contact entre l'outil et la surface, la grandeur réglante étant réglée sur la base de la valeur estimée et d'une valeur cible aussi longtemps qu'aucun contact n'est détecté, tandis que la grandeur réglante est réglée sur la base de la force mesurée et de la valeur cible aussi longtemps qu'un contact est détecté.
EP22717564.3A 2021-03-22 2022-03-22 Appareil de manipulation commandé par force pour usinage de surface assisté par robot Pending EP4313506A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021106990.4A DE102021106990A1 (de) 2021-03-22 2021-03-22 Kraftgeregelte Handhabungsvorrichtung für die robotergestützte Oberflächenbearbeitung
PCT/EP2022/057458 WO2022200329A1 (fr) 2021-03-22 2022-03-22 Appareil de manipulation commandé par force pour usinage de surface assisté par robot

Publications (1)

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EP4313506A1 true EP4313506A1 (fr) 2024-02-07

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US (1) US20240173858A1 (fr)
EP (1) EP4313506A1 (fr)
JP (1) JP2024510677A (fr)
KR (1) KR20230159866A (fr)
CN (1) CN117042930A (fr)
DE (1) DE102021106990A1 (fr)
WO (1) WO2022200329A1 (fr)

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CN117381763B (zh) * 2023-10-18 2024-05-31 芜湖藦卡机器人科技有限公司 一种机器人工具手自动标定检测机构及检测方法

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DE102021106990A1 (de) 2022-09-22
JP2024510677A (ja) 2024-03-08
WO2022200329A1 (fr) 2022-09-29
CN117042930A (zh) 2023-11-10
US20240173858A1 (en) 2024-05-30

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