GB2614246B - Continuum arm robot system - Google Patents

Continuum arm robot system Download PDF

Info

Publication number
GB2614246B
GB2614246B GB2118715.8A GB202118715A GB2614246B GB 2614246 B GB2614246 B GB 2614246B GB 202118715 A GB202118715 A GB 202118715A GB 2614246 B GB2614246 B GB 2614246B
Authority
GB
United Kingdom
Prior art keywords
robot system
arm robot
continuum
continuum arm
robot
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
Application number
GB2118715.8A
Other languages
English (en)
Other versions
GB2614246A (en
Inventor
David Norton Andrew
Russo Matteo
Mohammad Abdelkhalick
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.)
Rolls Royce PLC
Original Assignee
Rolls Royce PLC
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 Rolls Royce PLC filed Critical Rolls Royce PLC
Priority to GB2118715.8A priority Critical patent/GB2614246B/en
Priority to US18/075,877 priority patent/US12397433B2/en
Priority to EP22211698.0A priority patent/EP4201601A1/en
Priority to JP2022198555A priority patent/JP2023093360A/ja
Publication of GB2614246A publication Critical patent/GB2614246A/en
Application granted granted Critical
Publication of GB2614246B publication Critical patent/GB2614246B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • 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
    • 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
    • B25J15/0095—Gripping heads and other end effectors with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations
    • 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
    • B25J19/06—Safety devices
    • B25J19/066—Redundant equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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
    • B25J9/1628—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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • 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
    • 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
    • G05B2219/40234—Snake arm, flexi-digit robotic manipulator, a hand at each end

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
GB2118715.8A 2021-12-22 2021-12-22 Continuum arm robot system Active GB2614246B (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
GB2118715.8A GB2614246B (en) 2021-12-22 2021-12-22 Continuum arm robot system
US18/075,877 US12397433B2 (en) 2021-12-22 2022-12-06 Continuum arm robot system
EP22211698.0A EP4201601A1 (en) 2021-12-22 2022-12-06 Continuum arm robot system
JP2022198555A JP2023093360A (ja) 2021-12-22 2022-12-13 連続体アームロボットシステム

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB2118715.8A GB2614246B (en) 2021-12-22 2021-12-22 Continuum arm robot system

Publications (2)

Publication Number Publication Date
GB2614246A GB2614246A (en) 2023-07-05
GB2614246B true GB2614246B (en) 2024-04-10

Family

ID=84421369

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2118715.8A Active GB2614246B (en) 2021-12-22 2021-12-22 Continuum arm robot system

Country Status (4)

Country Link
US (1) US12397433B2 (enExample)
EP (1) EP4201601A1 (enExample)
JP (1) JP2023093360A (enExample)
GB (1) GB2614246B (enExample)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12409571B1 (en) 2024-03-08 2025-09-09 General Electric Company Snake-arm robot and joint therefor

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2552019A (en) * 2016-07-08 2018-01-10 Rolls Royce Plc Methods, apparatus, computer programs, and non-transitory computer readable storage mediums for controlling at least one of a first robot and a second robot

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6636781B1 (en) * 2001-05-22 2003-10-21 University Of Southern California Distributed control and coordination of autonomous agents in a dynamic, reconfigurable system
US9409292B2 (en) * 2013-09-13 2016-08-09 Sarcos Lc Serpentine robotic crawler for performing dexterous operations
US9566711B2 (en) * 2014-03-04 2017-02-14 Sarcos Lc Coordinated robotic control
WO2015168177A1 (en) * 2014-04-28 2015-11-05 Massachusetts Institute Of Technology Multi-link modular continuum robotic endoscope system
HRP20201018T1 (hr) * 2014-09-04 2020-10-16 Memic Innovative Surgery Ltd. Uređaj i sustav koji uključuju mehaničke ruke
GB2609643A (en) * 2021-08-12 2023-02-15 Rolls Royce Plc Continuum arm robot system

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2552019A (en) * 2016-07-08 2018-01-10 Rolls Royce Plc Methods, apparatus, computer programs, and non-transitory computer readable storage mediums for controlling at least one of a first robot and a second robot

Also Published As

Publication number Publication date
US12397433B2 (en) 2025-08-26
GB2614246A (en) 2023-07-05
JP2023093360A (ja) 2023-07-04
EP4201601A1 (en) 2023-06-28
US20230191610A1 (en) 2023-06-22

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