ES2526666T3 - Método para encontrar trayectorias articuladas factibles para un robot n-dof con un proceso invariante de giro (n > 5) - Google Patents
Método para encontrar trayectorias articuladas factibles para un robot n-dof con un proceso invariante de giro (n > 5) Download PDFInfo
- Publication number
- ES2526666T3 ES2526666T3 ES11700035.6T ES11700035T ES2526666T3 ES 2526666 T3 ES2526666 T3 ES 2526666T3 ES 11700035 T ES11700035 T ES 11700035T ES 2526666 T3 ES2526666 T3 ES 2526666T3
- Authority
- ES
- Spain
- Prior art keywords
- time
- qtool
- trajectories
- articulated
- feasible
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title abstract 4
- 238000005457 optimization Methods 0.000 abstract 2
- 238000000227 grinding Methods 0.000 abstract 1
- 238000010422 painting Methods 0.000 abstract 1
- 238000003466 welding Methods 0.000 abstract 1
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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- 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
- G05B2219/39081—Inexact solution for orientation or other DOF with relation to type of task
-
- 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
- G05B2219/40336—Optimize multiple constraints or subtasks
-
- 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
- G05B2219/40339—Avoid collision
-
- 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
- G05B2219/40363—Two independent paths planned, interpolations for same robot, e.g. wrist and TCP
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Un método implementado por ordenador para determinar unas trayectorias articuladas factibles para un robot de n-dof (n > 5) en un procesamiento invariante de giro de un objeto, tal como una molienda, una pintura y una soldadura, comprendiendo dicho método las etapas de: - recibir datos geométricos que representan el objeto; - recibir datos geométricos que representan la herramienta de procesamiento; - recibir una trayectoria X (t) de herramienta, en la que t es el tiempo; - buscar trayectorias qRobot (t) factibles usando IK (t) y qTool (t) como un conjunto de posibles soluciones en el tiempo t, en donde qRobot (t) define posiciones de todas las articulaciones en el robot como una función del tiempo, qTool (t) define el giro de una brida de herramienta alrededor del eje de herramienta en el tiempo t, e IK (t) define las soluciones cinemáticas inversas para un X (t) y un qTool (t) proporcionados, extendiéndose dicho qTool de 0 a 360 grados; - determinar, a partir de los datos geométricos y de X (t), cómo debería elegirse la trayectoria qRobot (t) articulada con el fin de satisfacer uno o más criterios de optimización; y - determinar cómo qTool (t) puede controlarse con el fin de satisfacer una pluralidad de los criterios de optimización; caracterizado por que la búsqueda de trayectorias factibles se realiza de forma global en el tiempo, especificando el intervalo de tiempo de la trayectoria completa en t1 < t2... < tN-1 < tN.
Description
Claims (1)
-
imagen1
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US29485210P | 2010-01-14 | 2010-01-14 | |
US294852P | 2010-01-14 | ||
EP10150782A EP2345512A1 (en) | 2010-01-14 | 2010-01-14 | Method of finding feasible joint trajectories for an n-dof robot with rotation invariant process (N>5) |
EP10150782 | 2010-01-14 | ||
PCT/EP2011/050145 WO2011086032A1 (en) | 2010-01-14 | 2011-01-07 | Method of finding feasible joint trajectories for an n-dof robot with rotation invariant process (n>5) |
Publications (1)
Publication Number | Publication Date |
---|---|
ES2526666T3 true ES2526666T3 (es) | 2015-01-14 |
Family
ID=42110006
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES11700035.6T Active ES2526666T3 (es) | 2010-01-14 | 2011-01-07 | Método para encontrar trayectorias articuladas factibles para un robot n-dof con un proceso invariante de giro (n > 5) |
Country Status (4)
Country | Link |
---|---|
EP (2) | EP2345512A1 (es) |
DK (1) | DK2523786T3 (es) |
ES (1) | ES2526666T3 (es) |
WO (1) | WO2011086032A1 (es) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010034683A1 (de) * | 2010-08-18 | 2012-02-23 | Kuka Roboter Gmbh | Verfahren und Programmiermittel zum Programmieren eines Roboters |
DE102011082800B4 (de) * | 2011-09-15 | 2016-04-14 | Convergent Information Technologies Gmbh | System und Verfahren zur automatisierten Erstellung von Roboterprogrammen |
CN104010774B (zh) | 2011-09-15 | 2017-10-13 | 康富真信息技术股份有限公司 | 用于自动生成机器人程序的系统和方法 |
CN108942943B (zh) * | 2018-08-16 | 2020-03-17 | 居鹤华 | 基于轴不变量的多轴机器人正运动学计算方法 |
CN109358500A (zh) * | 2018-09-27 | 2019-02-19 | 长沙科达智能装备股份有限公司 | 一种隧道智能混凝土喷浆机器人控制方法 |
CN109865621B (zh) * | 2019-03-20 | 2021-03-19 | 青岛金光鸿智能机械电子有限公司 | 一种喷涂位姿拆分方法及应用 |
CN112757306B (zh) * | 2021-01-25 | 2022-03-01 | 北京交通大学 | 一种机械臂逆解多解选择和时间最优轨迹规划算法 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5544282A (en) * | 1991-04-05 | 1996-08-06 | Chen; Pang C. | Method and apparatus for planning motions of robot manipulators |
DE4291618C2 (de) | 1991-06-04 | 2002-08-22 | Anca Pty Ltd | Computernumerisch-gesteuerte Maschine mit einer manuellen Bedieneinheit zur Steuerung eines programmierten Verfahrwegs |
US5789890A (en) | 1996-03-22 | 1998-08-04 | Genmark Automation | Robot having multiple degrees of freedom |
WO1998024011A1 (fr) | 1996-11-26 | 1998-06-04 | Fanuc Ltd | Dispositif de commande de robot ayant une fonction de simulation de route des operations |
GB2364575B (en) | 2000-07-07 | 2004-10-27 | Robotic Technology Systems Plc | Processing an object |
US6845295B2 (en) * | 2002-03-07 | 2005-01-18 | Fanuc Robotics America, Inc. | Method of controlling a robot through a singularity |
DE102004021468A1 (de) * | 2004-04-30 | 2005-11-24 | Kuka Roboter Gmbh | Verfahren zum Steuern einer Maschine, insbesondere eines Industrieroboters |
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 |
-
2010
- 2010-01-14 EP EP10150782A patent/EP2345512A1/en not_active Withdrawn
-
2011
- 2011-01-07 WO PCT/EP2011/050145 patent/WO2011086032A1/en active Application Filing
- 2011-01-07 DK DK11700035.6T patent/DK2523786T3/en active
- 2011-01-07 ES ES11700035.6T patent/ES2526666T3/es active Active
- 2011-01-07 EP EP11700035.6A patent/EP2523786B1/en not_active Not-in-force
Also Published As
Publication number | Publication date |
---|---|
EP2345512A1 (en) | 2011-07-20 |
DK2523786T3 (en) | 2015-01-05 |
WO2011086032A1 (en) | 2011-07-21 |
EP2523786B1 (en) | 2014-10-01 |
EP2523786A1 (en) | 2012-11-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
ES2526666T3 (es) | Método para encontrar trayectorias articuladas factibles para un robot n-dof con un proceso invariante de giro (n > 5) | |
JP2014107570A5 (es) | ||
GB2479676B (en) | Geometric inspection of machined objects | |
CL2017003263A1 (es) | Arquitectura basada en bloques con ejecución paralela de bloques sucesivos. | |
WO2014139466A3 (en) | Data cache system and method | |
WO2014106046A8 (en) | Systems and methods for multi-source data-warehousing | |
SG11202000081XA (en) | Image retrieval methods and apparatuses, devices, and readable storage media | |
WO2017052350A3 (ko) | 로봇 제어 방법 및 장치 | |
JP2014024162A5 (es) | ||
WO2015050610A3 (en) | Method, system, and software for supporting multiple radar mission types | |
AR083273A1 (es) | Metodo y sistema para segmentacion de primer plano de imagenes en tiempo real | |
AR101843A1 (es) | Predicción de fallas de herramientas de fondo de pozo inducidas por ciclo de temperatura | |
JP2015116655A5 (es) | ||
BR112022022260A2 (pt) | Sistema e métodos para automação de processos robóticos | |
Aibieyi | Training as an essential tool for increasing productivity in organization: Uniben in focus | |
RU2013101659A (ru) | Способ и устройство детектирования локальных особенностей на изображении | |
ES2607707A2 (es) | Máquina de corte de metal y método de mecanizado | |
CN104407613A (zh) | 一种避障路径平滑优化方法 | |
WO2015116133A3 (en) | Remapping memory locations in a memory array | |
Wang et al. | Teleoperation robot machining for large casting components | |
CN204135561U (zh) | 激光切割机床横梁 | |
CN204381697U (zh) | 螺柱焊接定位工装 | |
WO2013100205A3 (en) | Exposure apparatus and exposure method | |
Tsai et al. | T-search: A cross-platform searcher for historical typhoon events | |
Karaca et al. | The impact of multi-sport events on the developmental dynamics of cities: The case Of Erzurum, Trabzon and Mersin In Turkey |