JP2023093360A - 連続体アームロボットシステム - Google Patents

連続体アームロボットシステム Download PDF

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Publication number
JP2023093360A
JP2023093360A JP2022198555A JP2022198555A JP2023093360A JP 2023093360 A JP2023093360 A JP 2023093360A JP 2022198555 A JP2022198555 A JP 2022198555A JP 2022198555 A JP2022198555 A JP 2022198555A JP 2023093360 A JP2023093360 A JP 2023093360A
Authority
JP
Japan
Prior art keywords
robot
robots
control system
compliant
arm
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
JP2022198555A
Other languages
English (en)
Japanese (ja)
Other versions
JP2023093360A5 (https=
Inventor
アンドリュー・ディー・ノートン
D Norton Andrew
マッテオ・ルッソ
Russo Matteo
アブデルハリック・モハマド
Mohammad Abdelkhalick
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.)
Rolls Royce PLC
Original Assignee
Rolls Royce PLC
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 Rolls Royce PLC filed Critical Rolls Royce PLC
Publication of JP2023093360A publication Critical patent/JP2023093360A/ja
Publication of JP2023093360A5 publication Critical patent/JP2023093360A5/ja
Pending legal-status Critical Current

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Classifications

    • 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
    • B25J9/1679—Program 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—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0095—Gripping heads and other end effectors with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations
    • 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
    • B25J19/06—Safety devices
    • B25J19/066—Redundant equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • 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
    • B25J9/163—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position 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
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Program controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • 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
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • G05B2219/40234—Snake arm, flexi-digit robotic manipulator, a hand at each end

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2022198555A 2021-12-22 2022-12-13 連続体アームロボットシステム Pending JP2023093360A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB2118715.8A GB2614246B (en) 2021-12-22 2021-12-22 Continuum arm robot system
GB2118715.8 2021-12-22

Publications (2)

Publication Number Publication Date
JP2023093360A true JP2023093360A (ja) 2023-07-04
JP2023093360A5 JP2023093360A5 (https=) 2025-12-02

Family

ID=84421369

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022198555A Pending JP2023093360A (ja) 2021-12-22 2022-12-13 連続体アームロボットシステム

Country Status (4)

Country Link
US (1) US12397433B2 (https=)
EP (1) EP4201601A1 (https=)
JP (1) JP2023093360A (https=)
GB (1) GB2614246B (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12409571B1 (en) 2024-03-08 2025-09-09 General Electric Company Snake-arm robot and joint therefor

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6636781B1 (en) * 2001-05-22 2003-10-21 University Of Southern California Distributed control and coordination of autonomous agents in a dynamic, reconfigurable system
US9409292B2 (en) * 2013-09-13 2016-08-09 Sarcos Lc Serpentine robotic crawler for performing dexterous operations
US9566711B2 (en) * 2014-03-04 2017-02-14 Sarcos Lc Coordinated robotic control
US10743750B2 (en) * 2014-04-28 2020-08-18 Massachusetts Institute Of Technology Multi-link modular continuum robotic endoscope system
CA2957622C (en) * 2014-09-04 2023-07-04 Memic Innovative Surgery Ltd. Control of device including mechanical arms
GB2552019B (en) * 2016-07-08 2020-01-08 Rolls Royce Plc Methods and apparatus for controlling at least one of a first robot and a second robot to collaborate within a system
GB2609643A (en) * 2021-08-12 2023-02-15 Rolls Royce Plc Continuum arm robot system

Also Published As

Publication number Publication date
GB2614246B (en) 2024-04-10
US12397433B2 (en) 2025-08-26
EP4201601A1 (en) 2023-06-28
US20230191610A1 (en) 2023-06-22
GB2614246A (en) 2023-07-05

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