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 (en:Method
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—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
    • G05B2219/40306—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
US06/788,262 US4644237A (en) 1985-10-17 1985-10-17 Collision avoidance system
US788262 1985-10-17

Publications (2)

Publication Number Publication Date
JPS6294288A true JPS6294288A (ja) 1987-04-30
JPH0443745B2 JPH0443745B2 (en:Method) 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 (en:Method)
EP (1) EP0222113A3 (en:Method)
JP (1) JPS6294288A (en:Method)

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 (en:Method) * 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 (86)

* 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
DE69619115T2 (de) * 1995-06-13 2003-01-02 Toyo Kohan Co., Ltd. Verfahren zum zuvorkommen von interferenz für industrierobotor
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
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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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CN104688327B (zh) 2006-06-13 2017-06-09 直观外科手术操作公司 微创手术系统
US12357400B2 (en) 2006-06-29 2025-07-15 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
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
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
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
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9207673B2 (en) * 2008-12-04 2015-12-08 Crown Equipment Corporation Finger-mounted apparatus for remotely controlling a materials handling vehicle
US9645968B2 (en) * 2006-09-14 2017-05-09 Crown Equipment Corporation Multiple zone sensing for materials handling vehicles
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
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
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
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
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
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
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
US10238837B2 (en) 2011-10-14 2019-03-26 Intuitive Surgical Operations, Inc. Catheters with control modes for interchangeable probes
US9387048B2 (en) 2011-10-14 2016-07-12 Intuitive Surgical Operations, Inc. Catheter sensor systems
US20130303944A1 (en) 2012-05-14 2013-11-14 Intuitive Surgical Operations, Inc. Off-axis electromagnetic sensor
US9452276B2 (en) 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
DE112012005650B4 (de) * 2012-01-13 2018-01-25 Mitsubishi Electric Corporation Risikomesssystem
US20140148673A1 (en) 2012-11-28 2014-05-29 Hansen Medical, Inc. Method of anchoring pullwire directly articulatable region in catheter
KR102218244B1 (ko) 2012-12-10 2021-02-22 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 영상 포착 장치 및 조작 가능 장치 가동 아암들의 제어된 이동 중의 충돌 회피
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
CN105939647B (zh) 2013-10-24 2020-01-21 奥瑞斯健康公司 机器人辅助腔内外科手术系统及相关方法
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US9737371B2 (en) 2014-09-30 2017-08-22 Auris Surgical Robotics, Inc. Configurable robotic surgical system with virtual rail and flexible endoscope
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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
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JP7301884B2 (ja) 2018-02-13 2023-07-03 オーリス ヘルス インコーポレイテッド 医療用器具を駆動するためのシステム及び方法
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CN117767471A (zh) 2019-02-01 2024-03-26 克朗设备公司 远程控制设备的板载充电站
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Citations (1)

* Cited by examiner, † Cited by third party
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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Patent Citations (1)

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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

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 (en:Method) * 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
EP0222113A3 (en) 1989-02-01
JPH0443745B2 (en:Method) 1992-07-17
US4644237A (en) 1987-02-17
EP0222113A2 (en) 1987-05-20

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