JP2007517677A - ロボットとその位置決めの方法 - Google Patents

ロボットとその位置決めの方法 Download PDF

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Publication number
JP2007517677A
JP2007517677A JP2006548255A JP2006548255A JP2007517677A JP 2007517677 A JP2007517677 A JP 2007517677A JP 2006548255 A JP2006548255 A JP 2006548255A JP 2006548255 A JP2006548255 A JP 2006548255A JP 2007517677 A JP2007517677 A JP 2007517677A
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JP
Japan
Prior art keywords
effector
stiffness element
rotating shaft
rotation
robot
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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.)
Pending
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JP2006548255A
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English (en)
Japanese (ja)
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JP2007517677A5 (https=
Inventor
トビアス ブレット
Original Assignee
テクニシェ ユニバーシタット ベルリン
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Application filed by テクニシェ ユニバーシタット ベルリン filed Critical テクニシェ ユニバーシタット ベルリン
Publication of JP2007517677A publication Critical patent/JP2007517677A/ja
Publication of JP2007517677A5 publication Critical patent/JP2007517677A5/ja
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1643—Program controls characterised by the control loop redundant control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2006548255A 2004-01-08 2005-01-10 ロボットとその位置決めの方法 Pending JP2007517677A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004001822 2004-01-08
PCT/EP2005/000235 WO2005065893A2 (de) 2004-01-08 2005-01-10 Redundanter roboter und verfahren zum positionieren desselben

Publications (2)

Publication Number Publication Date
JP2007517677A true JP2007517677A (ja) 2007-07-05
JP2007517677A5 JP2007517677A5 (https=) 2011-01-27

Family

ID=34744700

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2006548255A Pending JP2007517677A (ja) 2004-01-08 2005-01-10 ロボットとその位置決めの方法

Country Status (3)

Country Link
JP (1) JP2007517677A (https=)
DE (1) DE112005000166B4 (https=)
WO (1) WO2005065893A2 (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009524529A (ja) * 2006-01-25 2009-07-02 プロテダイン・コーポレーション ロボットシステム
JP2014516814A (ja) * 2011-06-15 2014-07-17 テクニシュ・ウニヴェルシタット・ベルリン ロボットの駆動方法、ロボット、並進運動ロボット、ロボットシステム、及びロボットシステムの駆動方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB0720716D0 (en) * 2007-10-23 2007-12-05 York Pharma Plc Novel formulation
DE102022115462B3 (de) 2022-06-21 2023-07-06 Deutsches Zentrum für Luft- und Raumfahrt e.V. Robotermanipulator mit Aufgaben-Nullraum
DE102022125564B3 (de) 2022-10-04 2023-10-12 J.Schmalz Gmbh Verfahren zum Handhaben von Gegenständen und Handhabungsanlage

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000072248A (ja) * 1998-08-27 2000-03-07 Rorze Corp 基板搬送装置
JP2003197713A (ja) * 2001-12-28 2003-07-11 Dainippon Screen Mfg Co Ltd 基板処理装置および基板処理方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2852821B1 (de) * 1978-12-07 1980-04-30 Walter Reis Maschinenbau, 8753 Obernburg Manipulator
US4699563A (en) * 1984-05-31 1987-10-13 Seiko Instruments & Electronics Ltd. Horizontal articulated robot
US4702668A (en) * 1985-01-24 1987-10-27 Adept Technology, Inc. Direct drive robotic system
DE3513705A1 (de) * 1985-04-16 1986-10-23 Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Industrieroboter mit schwenkarm
GB2215870B (en) * 1988-02-15 1992-12-16 Amada Co Ltd Welding robot
US5294873A (en) * 1992-10-27 1994-03-15 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Kinematic functions for redundancy resolution using configuration control
JP3403942B2 (ja) * 1998-07-14 2003-05-06 三菱電機株式会社 産業用ロボット
US6256555B1 (en) * 1998-12-02 2001-07-03 Newport Corporation Robot arm with specimen edge gripping end effector
JP2001096480A (ja) * 1999-09-28 2001-04-10 Tatsumo Kk 水平多関節型産業用ロボット
JP2003117877A (ja) * 2001-10-17 2003-04-23 Japan Servo Co Ltd 多関節型の産業用ロボット

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000072248A (ja) * 1998-08-27 2000-03-07 Rorze Corp 基板搬送装置
JP2003197713A (ja) * 2001-12-28 2003-07-11 Dainippon Screen Mfg Co Ltd 基板処理装置および基板処理方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ODA, N.; MURAKAMI, T.; OHNISHI, K.: "Observer based local torque optimization in redundant manipulator", INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, 1996., PROCEEDINGS OF THE 1996 IEEE IECON 22ND, vol. 3, JPN6010039078, 5 August 1996 (1996-08-05), pages 1915 - 1921, XP010203274, ISSN: 0001670002, DOI: 10.1109/IECON.1996.570767 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009524529A (ja) * 2006-01-25 2009-07-02 プロテダイン・コーポレーション ロボットシステム
JP2014516814A (ja) * 2011-06-15 2014-07-17 テクニシュ・ウニヴェルシタット・ベルリン ロボットの駆動方法、ロボット、並進運動ロボット、ロボットシステム、及びロボットシステムの駆動方法

Also Published As

Publication number Publication date
DE112005000166B4 (de) 2015-09-24
WO2005065893A3 (de) 2007-04-19
WO2005065893A2 (de) 2005-07-21
DE112005000166D2 (de) 2006-11-30

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