ITUA20163608A1 - Procedimento e dispositivo per il controllo della movimentazione di uno o più robot collaborativi - Google Patents

Procedimento e dispositivo per il controllo della movimentazione di uno o più robot collaborativi

Info

Publication number
ITUA20163608A1
ITUA20163608A1 ITUA2016A003608A ITUA20163608A ITUA20163608A1 IT UA20163608 A1 ITUA20163608 A1 IT UA20163608A1 IT UA2016A003608 A ITUA2016A003608 A IT UA2016A003608A IT UA20163608 A ITUA20163608 A IT UA20163608A IT UA20163608 A1 ITUA20163608 A1 IT UA20163608A1
Authority
IT
Italy
Prior art keywords
handling
procedure
control
collaborative robots
collaborative
Prior art date
Application number
ITUA2016A003608A
Other languages
English (en)
Inventor
Andrea Maria Zanchettin
Paolo Rocco
Original Assignee
Milano Politecnico
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 Milano Politecnico filed Critical Milano Politecnico
Priority to ITUA2016A003608A priority Critical patent/ITUA20163608A1/it
Priority to EP17733527.0A priority patent/EP3458233B1/en
Priority to US16/099,387 priority patent/US11110605B2/en
Priority to JP2018556445A priority patent/JP7048162B2/ja
Priority to PCT/IB2017/052932 priority patent/WO2017199196A1/en
Publication of ITUA20163608A1 publication Critical patent/ITUA20163608A1/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
    • B25J9/16—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
    • B25J9/16—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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • 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
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • G05B2219/39082—Collision, real time collision avoidance
    • 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
    • G05B2219/39091—Avoid collision with moving obstacles
    • 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
    • G05B2219/39135—For multiple manipulators operating at same time, 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
    • G05B2219/40371—Control trajectory to avoid joint limit as well as obstacle 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
    • G05B2219/40507—Distributed planning, offline trajectory, online motion, avoid collision

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
ITUA2016A003608A 2016-05-19 2016-05-19 Procedimento e dispositivo per il controllo della movimentazione di uno o più robot collaborativi ITUA20163608A1 (it)

Priority Applications (5)

Application Number Priority Date Filing Date Title
ITUA2016A003608A ITUA20163608A1 (it) 2016-05-19 2016-05-19 Procedimento e dispositivo per il controllo della movimentazione di uno o più robot collaborativi
EP17733527.0A EP3458233B1 (en) 2016-05-19 2017-05-18 Method and device for controlling the motion of one or more collaborative robots
US16/099,387 US11110605B2 (en) 2016-05-19 2017-05-18 Method and device for controlling the motion of one or more collaborative robots
JP2018556445A JP7048162B2 (ja) 2016-05-19 2017-05-18 １または複数の協働ロボットの運動を制御するための方法およびデバイス
PCT/IB2017/052932 WO2017199196A1 (en) 2016-05-19 2017-05-18 Method and device for controlling the motion of one or more collaborative robots

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITUA2016A003608A ITUA20163608A1 (it) 2016-05-19 2016-05-19 Procedimento e dispositivo per il controllo della movimentazione di uno o più robot collaborativi

Publications (1)

Publication Number Publication Date
ITUA20163608A1 true ITUA20163608A1 (it) 2017-11-19

Family

ID=56940240

Family Applications (1)

Application Number Title Priority Date Filing Date
ITUA2016A003608A ITUA20163608A1 (it) 2016-05-19 2016-05-19 Procedimento e dispositivo per il controllo della movimentazione di uno o più robot collaborativi

Country Status (5)

Country Link
US (1) US11110605B2 (it)
EP (1) EP3458233B1 (it)
JP (1) JP7048162B2 (it)
IT (1) ITUA20163608A1 (it)
WO (1) WO2017199196A1 (it)

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JP2018176397A (ja) * 2017-04-21 2018-11-15 オムロン株式会社 ロボットシステム
CN108247637B (zh) * 2018-01-24 2020-11-24 中南大学 一种工业机器人手臂视觉防撞操控方法
CN110340882A (zh) * 2018-04-08 2019-10-18 苏州宝时得电动工具有限公司 机器人避障方法、装置、计算机设备及存储介质
JP2020093373A (ja) * 2018-12-14 2020-06-18 オムロン株式会社 ロボット干渉判定装置、ロボット干渉判定方法、ロボット制御装置、およびロボット制御システム
CN112296995B (zh) * 2019-07-26 2023-08-08 广州中国科学院先进技术研究所 机器人协作搬运系统
JP7362107B2 (ja) * 2019-09-30 2023-10-17 Ｊｏｈｎａｎ株式会社 制御装置、制御方法およびプログラム
US11325256B2 (en) * 2020-05-04 2022-05-10 Intrinsic Innovation Llc Trajectory planning for path-based applications
US11454974B2 (en) * 2020-06-29 2022-09-27 Baidu Usa Llc Method, apparatus, device, and storage medium for controlling guide robot
CN114851184B (zh) * 2021-01-20 2023-05-09 广东技术师范大学 一种面向工业机器人的强化学习奖励值计算方法
CN113146615A (zh) * 2021-01-29 2021-07-23 佛山树客智能机器人科技有限公司 一种多机器人协同搬运控制方法及装置
IT202100010472A1 (it) * 2021-04-26 2022-10-26 Milano Politecnico Metodo e relativo sistema di controllo in sicurezza di un robot
CN113664830B (zh) * 2021-08-24 2022-08-02 华中科技大学 基于模型预测阻抗控制的双机器人同步加工方法及系统
CN114833825B (zh) * 2022-04-19 2024-06-14 深圳市大族机器人有限公司 协作机器人控制方法、装置、计算机设备和存储介质
CN115097816B (zh) * 2022-05-20 2023-05-23 深圳市大族机器人有限公司 一种模块化多机器人协作控制方法

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DE10324627A1 (de) * 2003-05-28 2005-01-05 Daimlerchrysler Ag Arbeitsraumüberwachung für automatisiert arbeitende Maschinen
JP2010208002A (ja) * 2009-03-12 2010-09-24 Ihi Corp ロボット装置の制御装置及びロボット装置の制御方法

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JP2010208002A (ja) * 2009-03-12 2010-09-24 Ihi Corp ロボット装置の制御装置及びロボット装置の制御方法

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Also Published As

Publication number Publication date
EP3458233B1 (en) 2023-07-05
WO2017199196A1 (en) 2017-11-23
JP7048162B2 (ja) 2022-04-05
US11110605B2 (en) 2021-09-07
EP3458233A1 (en) 2019-03-27
US20190210224A1 (en) 2019-07-11
JP2019518616A (ja) 2019-07-04
EP3458233C0 (en) 2023-07-05

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