KR102235167B9 - 스텝 기반 실시간 디바이스 시스템 제어 방법, 디바이스 시스템 제어 장치 및 스텝 기반 디바이스 제어 시스템 - Google Patents

스텝 기반 실시간 디바이스 시스템 제어 방법, 디바이스 시스템 제어 장치 및 스텝 기반 디바이스 제어 시스템

Info

Publication number
KR102235167B9
KR102235167B9 KR20160020775A KR20160020775A KR102235167B9 KR 102235167 B9 KR102235167 B9 KR 102235167B9 KR 20160020775 A KR20160020775 A KR 20160020775A KR 20160020775 A KR20160020775 A KR 20160020775A KR 102235167 B9 KR102235167 B9 KR 102235167B9
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KR
South Korea
Prior art keywords
controlling
steps
system based
appratus
realtime
Prior art date
Application number
KR20160020775A
Other languages
English (en)
Other versions
KR20170034753A (ko
KR102235167B1 (ko
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 filed Critical
Priority to PCT/KR2016/008031 priority Critical patent/WO2017052059A1/ko
Priority to CN201680054794.7A priority patent/CN108025436B/zh
Priority to EP16848785.8A priority patent/EP3354415A4/en
Priority to JP2018514269A priority patent/JP6836585B2/ja
Priority to US15/762,060 priority patent/US11135719B2/en
Publication of KR20170034753A publication Critical patent/KR20170034753A/ko
Application granted granted Critical
Publication of KR102235167B1 publication Critical patent/KR102235167B1/ko
Publication of KR102235167B9 publication Critical patent/KR102235167B9/ko

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
    • B25J9/1656—Programme controls characterised by programming, planning systems for 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-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
    • 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
    • B25J9/1656—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
    • B25J9/1656—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
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/54—Interprogram communication
    • G06F9/544—Buffers; Shared memory; Pipes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/54—Interprogram communication
    • G06F9/545—Interprogram communication where tasks reside in different layers, e.g. user- and kernel-space
    • 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
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/06—Communication with another machine
    • Y10S901/08—Robot
    • 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
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Software Systems (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Feedback Control In General (AREA)
  • Programmable Controllers (AREA)
  • Stored Programmes (AREA)
KR1020160020775A 2015-09-21 2016-02-22 스텝 기반 실시간 디바이스 시스템 제어 방법, 디바이스 시스템 제어 장치 및 스텝 기반 디바이스 제어 시스템 KR102235167B1 (ko)

Priority Applications (5)

Application Number Priority Date Filing Date Title
PCT/KR2016/008031 WO2017052059A1 (ko) 2015-09-21 2016-07-22 실시간 제어 시스템, 실시간 제어 장치 및 시스템 제어 방법
CN201680054794.7A CN108025436B (zh) 2015-09-21 2016-07-22 实时控制系统、实时控制装置及系统控制方法
EP16848785.8A EP3354415A4 (en) 2015-09-21 2016-07-22 REAL-TIME CONTROL SYSTEM, REAL TIME CONTROL DEVICE, AND SYSTEM CONTROL PROCESS
JP2018514269A JP6836585B2 (ja) 2015-09-21 2016-07-22 リアルタイム制御システム、リアルタイム制御装置及びシステムの制御方法
US15/762,060 US11135719B2 (en) 2015-09-21 2016-07-22 Real-time control system, real-time control device and system control method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201562221215P 2015-09-21 2015-09-21
US62/221,215 2015-09-21

Publications (3)

Publication Number Publication Date
KR20170034753A KR20170034753A (ko) 2017-03-29
KR102235167B1 KR102235167B1 (ko) 2021-04-02
KR102235167B9 true KR102235167B9 (ko) 2021-09-17

Family

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Family Applications (4)

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KR1020160006426A KR102235166B1 (ko) 2015-09-21 2016-01-19 실시간 로봇 시스템, 로봇 시스템 제어 장치 및 로봇 시스템 제어 방법
KR1020160020779A KR102235947B1 (ko) 2015-09-21 2016-02-22 Gpos 연동형 실시간 로봇 제어 시스템 및 이를 이용한 실시간 디바이스 제어 시스템
KR1020160020776A KR102235168B1 (ko) 2015-09-21 2016-02-22 계층적 아키텍처를 갖는 실시간 디바이스 제어 시스템 및 이를 이용한 실시간 로봇 제어 시스템
KR1020160020775A KR102235167B1 (ko) 2015-09-21 2016-02-22 스텝 기반 실시간 디바이스 시스템 제어 방법, 디바이스 시스템 제어 장치 및 스텝 기반 디바이스 제어 시스템

Family Applications Before (3)

Application Number Title Priority Date Filing Date
KR1020160006426A KR102235166B1 (ko) 2015-09-21 2016-01-19 실시간 로봇 시스템, 로봇 시스템 제어 장치 및 로봇 시스템 제어 방법
KR1020160020779A KR102235947B1 (ko) 2015-09-21 2016-02-22 Gpos 연동형 실시간 로봇 제어 시스템 및 이를 이용한 실시간 디바이스 제어 시스템
KR1020160020776A KR102235168B1 (ko) 2015-09-21 2016-02-22 계층적 아키텍처를 갖는 실시간 디바이스 제어 시스템 및 이를 이용한 실시간 로봇 제어 시스템

Country Status (5)

Country Link
US (3) US10864635B2 (ko)
EP (3) EP3354416A4 (ko)
JP (3) JP6836585B2 (ko)
KR (4) KR102235166B1 (ko)
CN (3) CN108025436B (ko)

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