JP2022176917A - ロボットデバイスを制御するための方法 - Google Patents

ロボットデバイスを制御するための方法 Download PDF

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Publication number
JP2022176917A
JP2022176917A JP2022080087A JP2022080087A JP2022176917A JP 2022176917 A JP2022176917 A JP 2022176917A JP 2022080087 A JP2022080087 A JP 2022080087A JP 2022080087 A JP2022080087 A JP 2022080087A JP 2022176917 A JP2022176917 A JP 2022176917A
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JP
Japan
Prior art keywords
trajectory
manifold
weight vector
demonstrated
combination
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.)
Pending
Application number
JP2022080087A
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English (en)
Japanese (ja)
Inventor
ロソ レオネル
Leonel Rozo
デイヴ ヴェーダント
Dave Vedant
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.)
Robert Bosch GmbH
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Robert Bosch GmbH
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.)
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Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of JP2022176917A publication Critical patent/JP2022176917A/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—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
    • B25J9/1628—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
    • B25J9/1602—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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • 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
    • 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
    • G05B2219/36401—Record play back, teach position and record it then play back
    • 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
    • G05B2219/39001—Robot, manipulator 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39298—Trajectory learning
    • 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
    • G05B2219/40519—Motion, trajectory planning

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
JP2022080087A 2021-05-17 2022-05-16 ロボットデバイスを制御するための方法 Pending JP2022176917A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021204961.3A DE102021204961B4 (de) 2021-05-17 2021-05-17 Verfahren zur Steuerung einer Robotervorrichtung
DE102021204961.3 2021-05-17

Publications (1)

Publication Number Publication Date
JP2022176917A true JP2022176917A (ja) 2022-11-30

Family

ID=83806295

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022080087A Pending JP2022176917A (ja) 2021-05-17 2022-05-16 ロボットデバイスを制御するための方法

Country Status (4)

Country Link
JP (1) JP2022176917A (ko)
KR (1) KR20220155921A (ko)
CN (1) CN115351780A (ko)
DE (1) DE102021204961B4 (ko)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022206381A1 (de) 2022-06-24 2024-01-04 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Steuern einer Robotervorrichtung
DE102022212638B3 (de) 2022-11-25 2024-03-14 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung und Verfahren zum Steuern eines Roboters
DE102023200231A1 (de) 2023-01-12 2024-07-18 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Evaluieren einer Steuerung einer Robotervorrichtung
CN115946130B (zh) * 2023-03-13 2023-05-23 中国人民解放军国防科技大学 基于黎曼流形的人机协同方法
CN116985144A (zh) * 2023-09-26 2023-11-03 珞石（北京）科技有限公司 一种具有c2连续的机器人末端姿态规划方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9403273B2 (en) 2014-05-23 2016-08-02 GM Global Technology Operations LLC Rapid robotic imitation learning of force-torque tasks
WO2017129200A1 (en) 2016-01-28 2017-08-03 MAX-PLANCK-Gesellschaft zur Förderung der Wissenschaften e.V. A system for real-world continuous motion optimization and control
WO2018053187A1 (en) 2016-09-15 2018-03-22 Google Inc. Deep reinforcement learning for robotic manipulation
EP3753684B1 (en) 2019-06-21 2022-08-10 Robert Bosch GmbH Method and system for robot manipulation planning
DE102019209616A1 (de) 2019-07-01 2021-01-07 Kuka Deutschland Gmbh Durchführen einer vorgegebenen Aufgabe mithilfe wenigstens eines Roboters
DE102019216229B4 (de) 2019-10-07 2022-11-10 Robert Bosch Gmbh Vorrichtung und Verfahren zum Steuern einer Robotervorrichtung
EP3812972A1 (en) 2019-10-25 2021-04-28 Robert Bosch GmbH Method for controlling a robot and robot controller
DE102019216560B4 (de) 2019-10-28 2022-01-13 Robert Bosch Gmbh Verfahren und Vorrichtung zum Trainieren von Manipulationsfertigkeiten eines Robotersystems
EP3838503B1 (en) 2019-12-16 2024-05-01 Robert Bosch GmbH Method for controlling a robot and robot controller
DE102020207085A1 (de) 2020-06-05 2021-12-09 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum steuern eines roboters und robotersteuereinheit

Also Published As

Publication number Publication date
CN115351780A (zh) 2022-11-18
DE102021204961A1 (de) 2022-11-17
DE102021204961B4 (de) 2023-06-07
KR20220155921A (ko) 2022-11-24

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