JP2018532608A - 位置および/または姿勢の離散手動入力の制御システムを備えるロボット - Google Patents
位置および/または姿勢の離散手動入力の制御システムを備えるロボット Download PDFInfo
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- JP2018532608A JP2018532608A JP2018541503A JP2018541503A JP2018532608A JP 2018532608 A JP2018532608 A JP 2018532608A JP 2018541503 A JP2018541503 A JP 2018541503A JP 2018541503 A JP2018541503 A JP 2018541503A JP 2018532608 A JP2018532608 A JP 2018532608A
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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—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
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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—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
- B25J9/1656—Programme controls characterised by programming, planning systems for 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
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- 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
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
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- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36427—Jog feed to a command position, if close enough robot takes over positioning
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36433—Position assisted teaching
-
- 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
- G05B2219/40471—Using gradient method
-
- 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
- G05B2219/40472—Using exact cell decomposition
-
- 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
- G05B2219/40474—Using potential fields
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
O=O(POSPS)=(αi(POSPS),βj(POSPS),γk(POSPS))
102:移動可能な多部材ロボット構造体
103:制御装置
Claims (10)
- 前記制御装置(103)は、少なくとも2つの隣接する格子点または格子点群が点PSの前記現在位置POSPSから同じ距離に位置する場合、これらの格子点/格子点群のひとつを所定の方法に従って前記隣接する格子点/格子点群として選択するよう構成される、請求項1または2に記載のロボット。
- 前記方位空間O=:(αi,βj,γk)は、点PSの前記現在位置POSPSに依存して規定され、O=O(POSPS)=(αi(POSPS)、βj(POSPS)、γk(POSPS))である、請求項1から5のいずれかに記載のロボット。
- 前記3Dポテンシャル場の前記極小値が、前記3Dグリッドの各格子点周囲の所定の空間領域内において一定のポテンシャルを有し、前記空間領域の最大拡張は2つの隣接する格子点の間のグリッド間隔よりも小さい、請求項7または8に記載の方法。
- 構成要素Sの前記現在の方位ORsに対する少なくとも2つの隣接する方位の差が同じである場合、これらの方位O=:(αi,βj,γk)のひとつを所定の方法に従って選択する、請求項7から9のいずれかに記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015118918.6 | 2015-11-04 | ||
DE102015118918.6A DE102015118918B3 (de) | 2015-11-04 | 2015-11-04 | Roboter mit Ansteuerung zur diskretisierten manuellen Eingabe von Positionen und/oder Posen |
PCT/EP2016/075674 WO2017076697A1 (de) | 2015-11-04 | 2016-10-25 | Roboter mit ansteuerung zur diskretisierten manuellen eingabe von positionen und/oder posen |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2018532608A true JP2018532608A (ja) | 2018-11-08 |
Family
ID=57208278
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2018541503A Pending JP2018532608A (ja) | 2015-11-04 | 2016-10-25 | 位置および/または姿勢の離散手動入力の制御システムを備えるロボット |
Country Status (9)
Country | Link |
---|---|
US (1) | US10994415B2 (ja) |
EP (1) | EP3370925B1 (ja) |
JP (1) | JP2018532608A (ja) |
KR (1) | KR102078733B1 (ja) |
CN (1) | CN108290287B (ja) |
DE (1) | DE102015118918B3 (ja) |
DK (1) | DK3370925T3 (ja) |
SG (1) | SG11201803457QA (ja) |
WO (1) | WO2017076697A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110154022B (zh) * | 2019-05-20 | 2020-10-30 | 南京航浦机械科技有限公司 | 一种基于定向刚度模型的机器人制孔径向定位修正方法 |
DE102019220619B3 (de) * | 2019-12-30 | 2021-01-28 | Kuka Deutschland Gmbh | Bewegen einer roboterfesten Referenz |
DE102021125628B3 (de) | 2021-10-04 | 2022-10-13 | Physik Instrumente (PI) GmbH & Co KG | Geschwindigkeitsvorgaben zur Trajektorienbestimmung von Kinematiken |
Citations (5)
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JPH11254361A (ja) * | 1998-03-13 | 1999-09-21 | Sumitomo Heavy Ind Ltd | ロボットにおけるダイレクトティーチングのモード切替え方式 |
JP2002073130A (ja) * | 2000-06-13 | 2002-03-12 | Yaskawa Electric Corp | ロボットの大域動作経路計画方法とその制御装置 |
JP2009297853A (ja) * | 2008-06-16 | 2009-12-24 | Denso Wave Inc | ロボットのダイレクトティーチ制御装置 |
US20150081098A1 (en) * | 2013-09-19 | 2015-03-19 | Kuka Laboratories Gmbh | Method For Manually Adjusting The Pose Of A Manipulator Arm Of An Industrial Robot And Industrial Robots |
WO2015113757A1 (de) * | 2014-01-31 | 2015-08-06 | gomtec GmbH | Robotersteuerung |
Family Cites Families (16)
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DE3606685A1 (de) | 1986-02-28 | 1987-09-03 | Forsch Steuerungstechnik Der W | Vorrichtung zur handfuehrung eines industrieroboters |
JPH01175608A (ja) | 1987-12-29 | 1989-07-12 | Honda Motor Co Ltd | ロボットのティーチングデータ作成方法 |
IT1239878B (it) | 1990-02-02 | 1993-11-15 | Fiat Auto Spa | Sistema per la rilevazione dei parametri di movimento di robot industriali e simili. |
DE4408982C1 (de) | 1994-03-16 | 1995-05-18 | Deutsche Forsch Luft Raumfahrt | Autonomes Navigationssystem für einen mobilen Roboter oder Manipulator |
US5980082A (en) * | 1995-07-05 | 1999-11-09 | Fanuc Limited | Robot movement control device and movement control method |
CN1055157C (zh) | 1997-07-18 | 2000-08-02 | 中国科学院沈阳自动化研究所 | 机器人重复位姿精度检测系统 |
CN100338433C (zh) * | 2005-03-10 | 2007-09-19 | 新奥博为技术有限公司 | 激光扫描器与机器人的相对位置的标定方法 |
WO2009092164A1 (en) * | 2008-01-25 | 2009-07-30 | Mcmaster University | Surgical guidance utilizing tissue feedback |
WO2010060459A1 (en) | 2008-11-25 | 2010-06-03 | Abb Technology Ab | A method and an apparatus for calibration of an industrial robot system |
CN102601684B (zh) | 2012-04-06 | 2013-11-20 | 南京航空航天大学 | 基于间接测量法的高精度制孔机器人的工具参数标定方法 |
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CN102785246B (zh) * | 2012-08-24 | 2015-01-21 | 电子科技大学 | 一种可实现自动轨迹修正的机器人标定方法 |
US20150331415A1 (en) * | 2014-05-16 | 2015-11-19 | Microsoft Corporation | Robotic task demonstration interface |
US9272417B2 (en) * | 2014-07-16 | 2016-03-01 | Google Inc. | Real-time determination of object metrics for trajectory planning |
CN104457566A (zh) | 2014-11-10 | 2015-03-25 | 西北工业大学 | 一种无须示教机器人系统的空间定位方法 |
US9815198B2 (en) * | 2015-07-23 | 2017-11-14 | X Development Llc | System and method for determining a work offset |
-
2015
- 2015-11-04 DE DE102015118918.6A patent/DE102015118918B3/de not_active Expired - Fee Related
-
2016
- 2016-10-25 DK DK16787813.1T patent/DK3370925T3/da active
- 2016-10-25 KR KR1020187015630A patent/KR102078733B1/ko active IP Right Grant
- 2016-10-25 US US15/773,630 patent/US10994415B2/en active Active
- 2016-10-25 CN CN201680062483.5A patent/CN108290287B/zh active Active
- 2016-10-25 WO PCT/EP2016/075674 patent/WO2017076697A1/de active Application Filing
- 2016-10-25 EP EP16787813.1A patent/EP3370925B1/de active Active
- 2016-10-25 SG SG11201803457QA patent/SG11201803457QA/en unknown
- 2016-10-25 JP JP2018541503A patent/JP2018532608A/ja active Pending
Patent Citations (6)
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JPH11254361A (ja) * | 1998-03-13 | 1999-09-21 | Sumitomo Heavy Ind Ltd | ロボットにおけるダイレクトティーチングのモード切替え方式 |
JP2002073130A (ja) * | 2000-06-13 | 2002-03-12 | Yaskawa Electric Corp | ロボットの大域動作経路計画方法とその制御装置 |
JP2009297853A (ja) * | 2008-06-16 | 2009-12-24 | Denso Wave Inc | ロボットのダイレクトティーチ制御装置 |
US20150081098A1 (en) * | 2013-09-19 | 2015-03-19 | Kuka Laboratories Gmbh | Method For Manually Adjusting The Pose Of A Manipulator Arm Of An Industrial Robot And Industrial Robots |
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Also Published As
Publication number | Publication date |
---|---|
DE102015118918B3 (de) | 2017-05-04 |
WO2017076697A1 (de) | 2017-05-11 |
KR102078733B1 (ko) | 2020-02-19 |
EP3370925B1 (de) | 2020-08-12 |
CN108290287B (zh) | 2021-06-15 |
KR20180097532A (ko) | 2018-08-31 |
DK3370925T3 (da) | 2020-11-02 |
EP3370925A1 (de) | 2018-09-12 |
SG11201803457QA (en) | 2018-05-30 |
CN108290287A (zh) | 2018-07-17 |
US10994415B2 (en) | 2021-05-04 |
US20190061148A1 (en) | 2019-02-28 |
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