JP7003220B2 - ロボットを備えるハンドリング装置、方法及びコンピュータプログラム - Google Patents

ロボットを備えるハンドリング装置、方法及びコンピュータプログラム Download PDF

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JP7003220B2
JP7003220B2 JP2020506796A JP2020506796A JP7003220B2 JP 7003220 B2 JP7003220 B2 JP 7003220B2 JP 2020506796 A JP2020506796 A JP 2020506796A JP 2020506796 A JP2020506796 A JP 2020506796A JP 7003220 B2 JP7003220 B2 JP 7003220B2
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time
handling device
module
robot
motion
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Japanese (ja)
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JP2020529931A (ja
Inventor
ボイケ フェリックス
イェッセン ズィーモン
アラタルツェフ セルゲイ
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Robert Bosch GmbH
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Robert Bosch GmbH
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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
    • B25J9/1664—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
    • 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
    • B25J19/0095—Means or methods for testing 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • G05B2219/39083—Robot interference, between two robot arms
    • 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
    • G05B2219/40463—Shortest distance in time, or metric, time optimal
    • 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
    • G05B2219/40476—Collision, planning for collision free 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40477—Plan path independent from obstacles, then correction for obstacles

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
JP2020506796A 2017-08-07 2018-06-13 ロボットを備えるハンドリング装置、方法及びコンピュータプログラム Active JP7003220B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102017213651.0A DE102017213651A1 (de) 2017-08-07 2017-08-07 Handhabungseinrichtung mit einem Roboter sowie Verfahren und Computerprogramm
DE102017213651.0 2017-08-07
PCT/EP2018/065689 WO2019029870A1 (de) 2017-08-07 2018-06-13 Handhabungseinrichtung mit einem roboter sowie verfahren und computerprogramm

Publications (2)

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JP2020529931A JP2020529931A (ja) 2020-10-15
JP7003220B2 true JP7003220B2 (ja) 2022-01-20

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JP2020506796A Active JP7003220B2 (ja) 2017-08-07 2018-06-13 ロボットを備えるハンドリング装置、方法及びコンピュータプログラム

Country Status (5)

Country Link
JP (1) JP7003220B2 (ko)
KR (1) KR102553391B1 (ko)
CN (1) CN110914020B (ko)
DE (1) DE102017213651A1 (ko)
WO (1) WO2019029870A1 (ko)

Families Citing this family (4)

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Publication number Priority date Publication date Assignee Title
CN110370314B (zh) * 2019-06-11 2020-11-13 杭州亿恒科技有限公司 基于多激光跟踪仪的双臂机器人性能测量方法
US11945117B2 (en) 2021-03-10 2024-04-02 Samsung Electronics Co., Ltd. Anticipating user and object poses through task-based extrapolation for robot-human collision avoidance
US11833691B2 (en) 2021-03-30 2023-12-05 Samsung Electronics Co., Ltd. Hybrid robotic motion planning system using machine learning and parametric trajectories
CN114131657B (zh) * 2021-12-28 2024-01-23 芜湖藦卡机器人科技有限公司 一种工业机器人轨迹检测装置

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015160253A (ja) 2014-02-26 2015-09-07 キヤノン株式会社 軌道生成方法、ロボット装置、プログラム及び記録媒体

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US5150452A (en) * 1989-07-28 1992-09-22 Megamation Incorporated Method and apparatus for anti-collision and collision protection for multiple robot system
JPH10235580A (ja) * 1997-02-26 1998-09-08 Seiko Seiki Co Ltd 位置・力目標軌道生成器
JP4228387B2 (ja) * 2001-10-25 2009-02-25 株式会社安川電機 複数ロボットの作業教示方法および作業教示装置
JP4159577B2 (ja) * 2005-12-13 2008-10-01 ファナック株式会社 複数のロボット間のインターロック自動設定装置及び自動設定方法
JP6039187B2 (ja) * 2012-02-03 2016-12-07 キヤノン株式会社 組立装置、把持ハンドおよび物品の組立方法
DE102013014287A1 (de) 2012-08-27 2014-03-20 OBE OHNMACHT & BAUMGäRTNER GMBH & CO. KG Verfahren und Vorrichtung zum Verbinden feinmechanischer Bauteile
US9555545B2 (en) * 2014-05-21 2017-01-31 Bot & Dolly, Llc Systems and methods for time-based parallel robotic operation
DE102014222857A1 (de) * 2014-11-10 2016-05-12 Kuka Roboter Gmbh Flexibles taktzeitoptimiertes Teilen eines Arbeitsraums für Roboter
CN106503373B (zh) * 2016-11-04 2020-07-28 湘潭大学 一种基于b样条曲线的双机器人协调装配轨迹规划方法
CN106945020B (zh) * 2017-05-18 2019-10-22 哈尔滨工业大学 一种空间双机械臂系统运动协调控制方法

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015160253A (ja) 2014-02-26 2015-09-07 キヤノン株式会社 軌道生成方法、ロボット装置、プログラム及び記録媒体

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
C.A. Czarnecki，COLLISION FREE MOTION PLANNING TWO ROBOTS OPERATION IN A COMMON WORKSPACE，1994 International Conference on Control - Control '94.，英国，IEE，1994年03月21日，1006-1011
Zeungnam Bien and Jihong Lee，A Minimum-Time Trajectory Planning Method for Two Robots，IEEE Transactions on Robotics and Automation，IEEE，1992年06月，Vol.8, No.3，Pages 414-418

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Publication number Publication date
JP2020529931A (ja) 2020-10-15
DE102017213651A1 (de) 2019-02-07
KR102553391B1 (ko) 2023-07-11
CN110914020A (zh) 2020-03-24
KR20200038468A (ko) 2020-04-13
CN110914020B (zh) 2023-08-18
WO2019029870A1 (de) 2019-02-14

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