IT201900024481A1 - Robot modulare configurabile, procedimento e prodotto informatico corrispondenti - Google Patents

Robot modulare configurabile, procedimento e prodotto informatico corrispondenti

Info

Publication number
IT201900024481A1
IT201900024481A1 IT102019000024481A IT201900024481A IT201900024481A1 IT 201900024481 A1 IT201900024481 A1 IT 201900024481A1 IT 102019000024481 A IT102019000024481 A IT 102019000024481A IT 201900024481 A IT201900024481 A IT 201900024481A IT 201900024481 A1 IT201900024481 A1 IT 201900024481A1
Authority
IT
Italy
Prior art keywords
product
corresponding procedure
modular robot
configurable modular
configurable
Prior art date
Application number
IT102019000024481A
Other languages
English (en)
Inventor
Jörn Malzahn
Navvab Kashiri
Edoardo Romiti
Lorenzo Baccelliere
Stefano Cordasco
Arturo Laurenzi
Alessio Margan
Hoffman Enrico Mingo
Luca Muratore
Nikolaos Tsagarakis
Original Assignee
Fondazione St Italiano Tecnologia
Univ Degli Studi Genova
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 Fondazione St Italiano Tecnologia, Univ Degli Studi Genova filed Critical Fondazione St Italiano Tecnologia
Priority to IT102019000024481A priority Critical patent/IT201900024481A1/it
Priority to PCT/EP2020/086880 priority patent/WO2021123057A1/en
Priority to EP20824285.9A priority patent/EP4076863B1/en
Priority to US17/787,819 priority patent/US20230028405A1/en
Publication of IT201900024481A1 publication Critical patent/IT201900024481A1/it

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
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B25J19/0033—Means for supplying energy to the end effector arranged within the different robot elements with axial connectors in end effector flange
    • 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
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
    • 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
    • G05B2219/39197—Passive compliance, no input of force reference, mechanical resilience, spring
    • 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
    • G05B2219/39346—Workspace impedance 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
    • G05B2219/40—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
    • G05B2219/40338—Task priority redundancy
    • 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
    • G05B2219/40367—Redundant manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
IT102019000024481A 2019-12-18 2019-12-18 Robot modulare configurabile, procedimento e prodotto informatico corrispondenti IT201900024481A1 (it)

Priority Applications (4)

Application Number Priority Date Filing Date Title
IT102019000024481A IT201900024481A1 (it) 2019-12-18 2019-12-18 Robot modulare configurabile, procedimento e prodotto informatico corrispondenti
PCT/EP2020/086880 WO2021123057A1 (en) 2019-12-18 2020-12-17 A modular configurable robot, corresponding method and computer program product
EP20824285.9A EP4076863B1 (en) 2019-12-18 2020-12-17 A modular configurable robot, corresponding method and computer program product
US17/787,819 US20230028405A1 (en) 2019-12-18 2020-12-17 Modular configurable robot, corresponding method and computer program product

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102019000024481A IT201900024481A1 (it) 2019-12-18 2019-12-18 Robot modulare configurabile, procedimento e prodotto informatico corrispondenti

Publications (1)

Publication Number Publication Date
IT201900024481A1 true IT201900024481A1 (it) 2021-06-18

Family

ID=70155117

Family Applications (1)

Application Number Title Priority Date Filing Date
IT102019000024481A IT201900024481A1 (it) 2019-12-18 2019-12-18 Robot modulare configurabile, procedimento e prodotto informatico corrispondenti

Country Status (4)

Country Link
US (1) US20230028405A1 (it)
EP (1) EP4076863B1 (it)
IT (1) IT201900024481A1 (it)
WO (1) WO2021123057A1 (it)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023547974A (ja) * 2020-06-10 2023-11-15 ドイッチェス ゼントラム ヒュル ルフト－ ウント ラウムファールト エー．フェー． ロボットを制御するための方法及びコンピュータプログラム
DE102022115314A1 (de) * 2022-06-20 2023-12-21 Beckhoff Automation Gmbh Modulares Maschinen-Automatisierungssystem und Client-Modul
EP4321306A1 (en) * 2022-08-11 2024-02-14 Robco GmbH A safe configuration of a modular industrial robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9475199B2 (en) 2012-06-05 2016-10-25 TRACLabs, Inc. Apparatus, systems, and methods for reconfigurable robotic manipulator and coupling
US20170282089A1 (en) * 2016-03-31 2017-10-05 Shenzhen Bell Creative Science and Education Co., Ltd. Connection structures of modular assembly system
US9853386B1 (en) 2016-06-23 2017-12-26 Korea Institute Of Science And Technology Module connection mechanism capable of genderless coupling
ES2661067B1 (es) 2016-06-20 2019-01-16 Erle Robotics S L Metodo de determinacion de configuracion de un robot modular
EP3476548A1 (en) * 2017-10-27 2019-05-01 Creaholic SA Hardware module for a robotic system, and mechanical coupling

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9475199B2 (en) 2012-06-05 2016-10-25 TRACLabs, Inc. Apparatus, systems, and methods for reconfigurable robotic manipulator and coupling
US20170282089A1 (en) * 2016-03-31 2017-10-05 Shenzhen Bell Creative Science and Education Co., Ltd. Connection structures of modular assembly system
ES2661067B1 (es) 2016-06-20 2019-01-16 Erle Robotics S L Metodo de determinacion de configuracion de un robot modular
US9853386B1 (en) 2016-06-23 2017-12-26 Korea Institute Of Science And Technology Module connection mechanism capable of genderless coupling
EP3476548A1 (en) * 2017-10-27 2019-05-01 Creaholic SA Hardware module for a robotic system, and mechanical coupling

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PAREDIS C J J ET AL: "A RAPIDLY DEPLOYABLE MANIPULATOR SYSTEM", PROCEEDINGS OF THE 1996 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION. MINNEAPOLIS, APR. 22 - 28, 1996; [PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION], NEW YORK, IEEE, US, vol. CONF. 13, 22 April 1996 (1996-04-22), pages 1434 - 1439, XP000775070, ISBN: 978-0-7803-2989-8 *

Also Published As

Publication number Publication date
US20230028405A1 (en) 2023-01-26
EP4076863A1 (en) 2022-10-26
WO2021123057A1 (en) 2021-06-24
EP4076863B1 (en) 2024-04-17

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