FR2764838B1 - Procede de commande d'un manipulateur - Google Patents

Procede de commande d'un manipulateur

Info

Publication number
FR2764838B1
FR2764838B1 FR9807783A FR9807783A FR2764838B1 FR 2764838 B1 FR2764838 B1 FR 2764838B1 FR 9807783 A FR9807783 A FR 9807783A FR 9807783 A FR9807783 A FR 9807783A FR 2764838 B1 FR2764838 B1 FR 2764838B1
Authority
FR
France
Prior art keywords
manipulator
controlling
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.)
Expired - Fee Related
Application number
FR9807783A
Other languages
English (en)
Other versions
FR2764838A1 (fr
Inventor
Maximilian Schlemmer
Manfred Schedl
Michael Steinmetz
Georg Grubel
Reinhard Finsterwalder
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.)
Deutsches Zentrum fuer Luft und Raumfahrt eV
Original Assignee
Deutsches Zentrum fuer Luft und Raumfahrt eV
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
Priority claimed from DE19800552A external-priority patent/DE19800552C2/de
Application filed by Deutsches Zentrum fuer Luft und Raumfahrt eV filed Critical Deutsches Zentrum fuer Luft und Raumfahrt eV
Publication of FR2764838A1 publication Critical patent/FR2764838A1/fr
Application granted granted Critical
Publication of FR2764838B1 publication Critical patent/FR2764838B1/fr
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • 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
    • B25J9/1689—Teleoperation
    • 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
    • G05B2219/39358—Time optimal control along path for singular points, having veloctiy constraints
    • 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
    • G05B2219/39361—Minimize time-energy cost
    • 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
    • G05B2219/39439—Joystick, handle, lever controls manipulator directly, manually by 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40454—Max velocity, acceleration limit for workpiece and arm jerk rate as constraints

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
FR9807783A 1997-06-20 1998-06-19 Procede de commande d'un manipulateur Expired - Fee Related FR2764838B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19726166 1997-06-20
DE19800552A DE19800552C2 (de) 1997-06-20 1998-01-11 Verfahren zur Kommandosteuerung eines Manipulators

Publications (2)

Publication Number Publication Date
FR2764838A1 FR2764838A1 (fr) 1998-12-24
FR2764838B1 true FR2764838B1 (fr) 2000-06-02

Family

ID=26037610

Family Applications (1)

Application Number Title Priority Date Filing Date
FR9807783A Expired - Fee Related FR2764838B1 (fr) 1997-06-20 1998-06-19 Procede de commande d'un manipulateur

Country Status (2)

Country Link
US (1) US6181983B1 (fr)
FR (1) FR2764838B1 (fr)

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6691010B1 (en) * 2000-11-15 2004-02-10 Caterpillar Inc Method for developing an algorithm to efficiently control an autonomous excavating linkage
US6456901B1 (en) 2001-04-20 2002-09-24 Univ Michigan Hybrid robot motion task level control system
JP3643867B2 (ja) * 2001-07-23 2005-04-27 独立行政法人情報通信研究機構 マニピュレータの制御方法
US6889118B2 (en) * 2001-11-28 2005-05-03 Evolution Robotics, Inc. Hardware abstraction layer for a robot
US6678582B2 (en) * 2002-05-30 2004-01-13 Kuka Roboter Gmbh Method and control device for avoiding collisions between cooperating robots
JP2006509256A (ja) * 2002-12-06 2006-03-16 コーニンクレッカ　フィリップス　エレクトロニクス　エヌ　ヴィ 装置の自動位置決めに関する機器及び方法
JP3797986B2 (ja) * 2003-07-03 2006-07-19 ファナック株式会社 ロボットオフラインシミュレーション装置
US9104197B2 (en) * 2004-06-15 2015-08-11 Abb Ab Method and system for off-line programming of multiple interacting robots
US9390203B2 (en) 2004-06-15 2016-07-12 Abb Ab Method and system for off-line programming of multiple interacting robots
EP1972416B1 (fr) * 2007-03-23 2018-04-25 Honda Research Institute Europe GmbH Robots avec fonction d'évitement d'occlusion
EP1972415B1 (fr) 2007-03-23 2019-01-02 Honda Research Institute Europe GmbH Robots avec fonction d'évitement de collision
EP1974869A1 (fr) * 2007-03-26 2008-10-01 Honda Research Institute Europe GmbH Appareil et procédé pour générer et contrôler les mouvements d'un robot
EP2212753B1 (fr) * 2008-12-17 2011-05-04 KUKA Laboratories GmbH Procédé pour permettre à un manipulateur de parcourir une trajectoire donnée, ainsi que dispositif de commande pour la mise en oeuvre d' un tel procédé
US20100186234A1 (en) 2009-01-28 2010-07-29 Yehuda Binder Electric shaver with imaging capability
FR2960074B1 (fr) * 2010-05-14 2012-06-15 Staubli Sa Ets Procede de commande d'une cellule de travail automatisee
US9044857B2 (en) * 2012-02-14 2015-06-02 Jerry Neal Sommerville Control system that guides a robot or articulated device with a laser distance meter for 3D motion, or guides a robot or articulated device with a computer pointing device (such as a mouse) for 2D motion
EP2845065B1 (fr) * 2012-05-04 2019-09-18 Leoni Cia Cable Systems SAS Procédé d'apprentissage par imitation pour manipulateur multiaxe
KR20140125712A (ko) * 2013-04-19 2014-10-29 서울대학교산학협력단 여유구동형 기구 형성 방법 및 구동기 힘 분배 시스템
JP5893665B2 (ja) * 2014-04-14 2016-03-23 ファナック株式会社 作用された力に応じて移動されるロボットを制御するロボット制御装置
US10279470B2 (en) * 2014-06-12 2019-05-07 Play-i, Inc. System and method for facilitating program sharing
EP3154749A4 (fr) 2014-06-12 2017-12-06 Play-i, Inc. Système et procédé de consolidation de l'enseignement de la programmation par une rétroaction par un robot
JP6398777B2 (ja) * 2015-02-18 2018-10-03 トヨタ自動車株式会社 ロボット制御装置、制御方法、及び制御プログラム
JP6565752B2 (ja) * 2016-03-17 2019-08-28 株式会社安川電機 ロボット制御装置及びロボット制御方法
WO2019219795A1 (fr) * 2018-05-18 2019-11-21 Kuka Deutschland Gmbh Commande d'un robot
CN113748000B (zh) * 2019-04-25 2024-04-05 伯克希尔格雷营业股份有限公司 用于维持可编程运动系统中的软管布线系统中的真空软管寿命的系统和方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58177287A (ja) * 1982-04-05 1983-10-17 株式会社日立製作所 ロボットの制御方法
DE3240251A1 (de) 1982-10-30 1984-05-03 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Verfahren zum programmieren von bewegungen und erforderlichenfalls von bearbeitungskraeften bzw. -momenten eines roboters oder manipulators und einrichtung zu dessen durchfuehrung
JPS59107884A (ja) * 1982-12-10 1984-06-22 株式会社日立製作所 ロボツトの制御方式
US4999553A (en) * 1989-12-28 1991-03-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Method and apparatus for configuration control of redundant robots
US5179514A (en) * 1990-08-08 1993-01-12 The Research Foundation Of State University Of New York Method and apparatus for trajectory control of robot manipulators or the like
US5214749A (en) * 1991-06-12 1993-05-25 Massachusetts Institute Of Technology Dynamic control of a robot with its center of mass decoupled from an end effector by a redundant linkage
US5276390A (en) * 1991-10-04 1994-01-04 Hewlett-Packard Company System for hybrid position and force control
US5293461A (en) * 1991-11-20 1994-03-08 The University Of British Columbia System for determining manipulator coordinates
US5737500A (en) * 1992-03-11 1998-04-07 California Institute Of Technology Mobile dexterous siren degree of freedom robot arm with real-time control system
US5430643A (en) * 1992-03-11 1995-07-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Configuration control of seven degree of freedom arms

Also Published As

Publication number Publication date
FR2764838A1 (fr) 1998-12-24
US6181983B1 (en) 2001-01-30

Similar Documents

Publication Publication Date Title
FR2764838B1 (fr) Procede de commande d'un manipulateur
FR2767885B1 (fr) Procede de commande d'un embrayage
FR2754974B1 (fr) Procede de commande d'alimentation d'une ensileuse
FR2763180B1 (fr) Procede et appareil de commande d'un depart-moteur communiquant avec un bus
FR2783980B1 (fr) Procede et agencement de commande d'un actionneur capacitif
FI945638A (fi) Menetelmä hissin ohjaamiseksi
AU7559498A (en) A method for supervision of the movement control of a manipulator
FR2760153B1 (fr) Procede de commande d'un convertisseur analogique-numerique
FR2785237B1 (fr) Procede de commande d'un accouplement
FR2772095B1 (fr) Procede de commande d'embrayage
EP0785490A4 (fr) Procede de commande d'un robot
FR2737997B1 (fr) Procede de commande d'orientation d'un engin spatial
GB2288038B (en) Method of controlling a plurality of satellites
ITPD940004A0 (it) Dispositivo per il comando di un impianto di distribuzione d'acqua
FI944614A0 (fi) Järjestelmä robotin siirtämiseksi
FR2767274B1 (fr) Procede de fabrication d'un piston
FR2771040B1 (fr) Procede de commande d'une broche de vissage
FR2717397B1 (fr) Procédé de commande de la fréquence de base d'un stimulateur cardiaque.
FR2758204B1 (fr) Procede de commande d'adressage d'un panneau a plasma de type alternatif
FR2742902B1 (fr) Procede d'estimation de mouvement
FR2755238B1 (fr) Procede de caracterisation d'un photorepeteur
ITBO970582A0 (it) Metodo di controlo di un'unita' di gommatura.
FR2765644B1 (fr) Procede et dispositif de commande d'un embrayage
FI965133A (fi) Menetelmä puhelun ohjaamiseksi
FR2761292B1 (fr) Procede de commande de guidage interactif, sur trajectoire, d'un manipulateur a redondance cinematique

Legal Events

Date Code Title Description
ST Notification of lapse

Effective date: 20070228