JPS6294288A - 衝突防止装置 - Google Patents

衝突防止装置

Info

Publication number
JPS6294288A
JPS6294288A JP61209800A JP20980086A JPS6294288A JP S6294288 A JPS6294288 A JP S6294288A JP 61209800 A JP61209800 A JP 61209800A JP 20980086 A JP20980086 A JP 20980086A JP S6294288 A JPS6294288 A JP S6294288A
Authority
JP
Japan
Prior art keywords
arm
line
signal
resistor
deceleration
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.)
Granted
Application number
JP61209800A
Other languages
English (en)
Japanese (ja)
Other versions
JPH0443745B2 (OSRAM
Inventor
ジエームズ・エドワード・フルシヨア
マイケル・ローレンス・マーハー
クリストフアー・ジヨン・マジユカ
ジヨン・エドワード・スウエンソン
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.)
International Business Machines Corp
Original Assignee
International Business Machines Corp
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 International Business Machines Corp filed Critical International Business Machines Corp
Publication of JPS6294288A publication Critical patent/JPS6294288A/ja
Publication of JPH0443745B2 publication Critical patent/JPH0443745B2/ja
Granted legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • G05B2219/40306—Two or more independent robots
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49141—Detect near collision and slow, stop, inhibit movement tool
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49153—Avoid collision, interference between tools moving along same axis
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S367/00—Communications, electrical: acoustic wave systems and devices
    • Y10S367/909—Collision avoidance

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Safety Devices In Control Systems (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
JP61209800A 1985-10-17 1986-09-08 衝突防止装置 Granted JPS6294288A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US788262 1985-10-17
US06/788,262 US4644237A (en) 1985-10-17 1985-10-17 Collision avoidance system

Publications (2)

Publication Number Publication Date
JPS6294288A true JPS6294288A (ja) 1987-04-30
JPH0443745B2 JPH0443745B2 (OSRAM) 1992-07-17

Family

ID=25143940

Family Applications (1)

Application Number Title Priority Date Filing Date
JP61209800A Granted JPS6294288A (ja) 1985-10-17 1986-09-08 衝突防止装置

Country Status (3)

Country Link
US (1) US4644237A (OSRAM)
EP (1) EP0222113A3 (OSRAM)
JP (1) JPS6294288A (OSRAM)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6352991A (ja) * 1986-08-20 1988-03-07 トキコ株式会社 工業用ロボツト
JPS63273909A (ja) * 1987-05-01 1988-11-11 Honda Motor Co Ltd 産業用ロボツトにおけるインチング制御装置
JPH02135193U (OSRAM) * 1989-04-14 1990-11-09
WO1993025356A1 (fr) * 1992-06-17 1993-12-23 Fanuc Ltd Methode d'alimentation manuelle par robot
WO1994019730A1 (fr) * 1993-02-23 1994-09-01 Fanuc Ltd Systeme de commande d'acceleration/deceleration d'un controleur numerique
JP2007160438A (ja) * 2005-12-12 2007-06-28 Honda Motor Co Ltd 脚式移動ロボット
JP2013504447A (ja) * 2009-09-15 2013-02-07 ハリス コーポレイション 衝突回避スキームを実行するロボット装置及びそれに関連する方法

Families Citing this family (85)

* Cited by examiner, † Cited by third party
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US5067872A (en) * 1987-06-18 1991-11-26 Knorr Brake Holding Corporation Method for semitrailer transfer
US4973206A (en) * 1987-06-18 1990-11-27 General Signal Corporation Method and apparatus for loading and unloading semitrailers and off railroad flat cars
DE3730105A1 (de) * 1987-09-08 1989-03-16 Pietzsch Ibp Gmbh Verfahren und einrichtung zum sichern eines im raum beweglichen fahrzeugs oder geraets
JPH01230107A (ja) * 1988-03-10 1989-09-13 Fanuc Ltd サーボモータにより駆動される被駆動体の衝突検出方法
US5304906A (en) * 1989-12-26 1994-04-19 Fanuc Ltd. Collision detecting method using an observer
US5247608A (en) * 1991-04-01 1993-09-21 At&T Bell Laboratories Method and apparatus for achieving dynamic path control of multiple robots
US5230783A (en) * 1991-05-15 1993-07-27 The Dow Chemical Company Electrolytic cell and process for the labeling of proteins and peptides
JPH0553634A (ja) * 1991-08-29 1993-03-05 Matsushita Electric Ind Co Ltd 複腕干渉回避システム
US5481248A (en) * 1993-03-11 1996-01-02 Kruh; Brian A. Overhead cranes having collision avoidance capabilities
DE4443669A1 (de) * 1994-12-08 1996-06-13 Index Werke Kg Hahn & Tessky Verfahren und Einrichtung zum Überwachen der Bewegung eines Maschinenbauteils
AU6014896A (en) * 1995-06-13 1997-01-09 Toyo Kohan Co. Ltd. Interference preventing method for industrial robots
US6004016A (en) * 1996-08-06 1999-12-21 Trw Inc. Motion planning and control for systems with multiple mobile objects
US6057777A (en) * 1997-07-31 2000-05-02 Laser Technology Industrial position sensor
US6173215B1 (en) * 1997-12-19 2001-01-09 Caterpillar Inc. Method for determining a desired response to detection of an obstacle
US8944070B2 (en) 1999-04-07 2015-02-03 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
RU2148492C1 (ru) * 1999-04-29 2000-05-10 Дальневосточный государственный технический университет Устройство для управления приводом робота
RU2147985C1 (ru) * 1999-06-29 2000-04-27 Институт автоматики и процессов управления Дальневосточного отделения РАН Устройство для управления движителем подводного робота
RU2162792C1 (ru) * 1999-12-21 2001-02-10 Дальневосточный государственный технический университет Устройство для управления приводом робота
RU2163190C1 (ru) * 2000-01-17 2001-02-20 Дальневосточный государственный технический университет Устройство для управления приводом робота
NL1020506C2 (nl) * 2002-05-01 2003-11-21 Altech Logistiek B V Werkwagen voor kassen.
CN1304178C (zh) * 2004-05-24 2007-03-14 熊勇刚 一种多机械臂机器人关节间的碰撞检测方法
DE102004026827B4 (de) * 2004-05-28 2006-03-02 Hiersemann Prozessautomation Gmbh Verfahren und Anordnung zur Überwachung von Arbeitsabläufen in einem Mensch-Maschine-System
CA2513202C (en) * 2004-07-23 2015-03-31 Mehran Anvari Multi-purpose robotic operating system and method
JP3907649B2 (ja) * 2004-09-02 2007-04-18 ファナック株式会社 ロボット間の干渉防止制御装置
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DE102005037650A1 (de) 2005-08-05 2007-02-08 Reis Gmbh & Co. Kg Maschinenfabrik Verfahren und System zur Überwachung von Kollisionen zwischen Robotern und Personen
US20080071288A1 (en) 2006-06-13 2008-03-20 Intuitive Surgical, Inc. Minimally invasive surgery guide tube
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
US10258425B2 (en) * 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US12357400B2 (en) 2006-06-29 2025-07-15 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US9645968B2 (en) * 2006-09-14 2017-05-09 Crown Equipment Corporation Multiple zone sensing for materials handling vehicles
US9207673B2 (en) * 2008-12-04 2015-12-08 Crown Equipment Corporation Finger-mounted apparatus for remotely controlling a materials handling vehicle
US9122276B2 (en) 2006-09-14 2015-09-01 Crown Equipment Corporation Wearable wireless remote control device for use with a materials handling vehicle
US8970363B2 (en) * 2006-09-14 2015-03-03 Crown Equipment Corporation Wrist/arm/hand mounted device for remotely controlling a materials handling vehicle
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9084623B2 (en) 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US8903546B2 (en) 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US12239396B2 (en) 2008-06-27 2025-03-04 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US8864652B2 (en) * 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
US9522817B2 (en) 2008-12-04 2016-12-20 Crown Equipment Corporation Sensor configuration for a materials handling vehicle
US12266040B2 (en) 2009-03-31 2025-04-01 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US8918211B2 (en) 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
EP2493664B1 (en) 2009-10-27 2019-02-20 Battelle Memorial Institute Semi-autonomous multi-use robot system and method of operation
US20130303944A1 (en) 2012-05-14 2013-11-14 Intuitive Surgical Operations, Inc. Off-axis electromagnetic sensor
US10238837B2 (en) 2011-10-14 2019-03-26 Intuitive Surgical Operations, Inc. Catheters with control modes for interchangeable probes
US9452276B2 (en) 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
US9387048B2 (en) 2011-10-14 2016-07-12 Intuitive Surgical Operations, Inc. Catheter sensor systems
KR101560516B1 (ko) * 2012-01-13 2015-10-14 미쓰비시덴키 가부시키가이샤 리스크 측정 시스템
US20140148673A1 (en) 2012-11-28 2014-05-29 Hansen Medical, Inc. Method of anchoring pullwire directly articulatable region in catheter
JP6293777B2 (ja) 2012-12-10 2018-03-14 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 画像キャプチャ装置及び操作可能な装置可動アームの制御された動作の間の衝突回避
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
EP3060157B1 (en) 2013-10-24 2019-12-11 Auris Health, Inc. System for robotic-assisted endolumenal surgery
EP3243476B1 (en) 2014-03-24 2019-11-06 Auris Health, Inc. Systems and devices for catheter driving instinctiveness
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US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
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US10766140B2 (en) 2017-04-13 2020-09-08 Battelle Memorial Institute Teach mode collision avoidance system and method for industrial robotic manipulators
JP7677608B2 (ja) 2017-05-12 2025-05-15 オーリス ヘルス インコーポレイテッド 生検装置およびシステム
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US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm
US10987179B2 (en) 2017-12-06 2021-04-27 Auris Health, Inc. Systems and methods to correct for uncommanded instrument roll
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JP7661665B2 (ja) 2018-09-28 2025-04-15 オーリス ヘルス インコーポレイテッド 医療器具をドッキングするためのシステム及び方法
KR102870092B1 (ko) 2018-09-28 2025-10-17 아우리스 헬스, 인코포레이티드 동시 내시경술 및 경피 의료 절차를 위한 로봇 시스템 및 방법
KR102814248B1 (ko) 2019-02-01 2025-05-30 크라운 이큅먼트 코포레이션 원격 제어 디바이스를 위한 온 보드 충전 스테이션
US11641121B2 (en) 2019-02-01 2023-05-02 Crown Equipment Corporation On-board charging station for a remote control device
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CN114901192A (zh) 2019-12-31 2022-08-12 奥瑞斯健康公司 用于经皮进入的对准技术
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Citations (1)

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Publication number Priority date Publication date Assignee Title
JPS5810483A (ja) * 1981-07-08 1983-01-21 日産自動車株式会社 ２腕ロボツトにおける両腕の高速衝突防止方法及びその装置

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6352991A (ja) * 1986-08-20 1988-03-07 トキコ株式会社 工業用ロボツト
JPS63273909A (ja) * 1987-05-01 1988-11-11 Honda Motor Co Ltd 産業用ロボツトにおけるインチング制御装置
JPH02135193U (OSRAM) * 1989-04-14 1990-11-09
WO1993025356A1 (fr) * 1992-06-17 1993-12-23 Fanuc Ltd Methode d'alimentation manuelle par robot
US5485389A (en) * 1992-06-17 1996-01-16 Fanuc Ltd. Manual feeding method for robots
WO1994019730A1 (fr) * 1993-02-23 1994-09-01 Fanuc Ltd Systeme de commande d'acceleration/deceleration d'un controleur numerique
US5589750A (en) * 1993-02-23 1996-12-31 Fanuc Ltd. Acceleration/deceleration control apparatus for numerical control apparatus
JP2007160438A (ja) * 2005-12-12 2007-06-28 Honda Motor Co Ltd 脚式移動ロボット
JP2013504447A (ja) * 2009-09-15 2013-02-07 ハリス コーポレイション 衝突回避スキームを実行するロボット装置及びそれに関連する方法

Also Published As

Publication number Publication date
EP0222113A2 (en) 1987-05-20
US4644237A (en) 1987-02-17
JPH0443745B2 (OSRAM) 1992-07-17
EP0222113A3 (en) 1989-02-01

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