KR20120082881A - 충돌 회피 스킴을 실행하는 로보틱 장치 및 연관된 방법 - Google Patents

충돌 회피 스킴을 실행하는 로보틱 장치 및 연관된 방법 Download PDF

Info

Publication number
KR20120082881A
KR20120082881A KR1020127007877A KR20127007877A KR20120082881A KR 20120082881 A KR20120082881 A KR 20120082881A KR 1020127007877 A KR1020127007877 A KR 1020127007877A KR 20127007877 A KR20127007877 A KR 20127007877A KR 20120082881 A KR20120082881 A KR 20120082881A
Authority
KR
South Korea
Prior art keywords
robotic manipulator
robotic
controller
manipulator
joint
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.)
Ceased
Application number
KR1020127007877A
Other languages
English (en)
Korean (ko)
Inventor
폴 마이클 보스처
다니엘 라이언 헤드먼
Original Assignee
해리스 코포레이션
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 해리스 코포레이션 filed Critical 해리스 코포레이션
Publication of KR20120082881A publication Critical patent/KR20120082881A/ko
Ceased legal-status Critical Current

Links

Images

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
    • 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
    • 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
    • G05B2219/39082—Collision, real time collision avoidance
    • 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
    • G05B2219/39085—Use of two dimensional maps and feedback of external and joint sensors
    • 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
    • G05B2219/39091—Avoid collision with moving obstacles
    • 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
    • G05B2219/40492—Model manipulator by spheres for collision avoidance
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
KR1020127007877A 2009-09-15 2010-09-16 충돌 회피 스킴을 실행하는 로보틱 장치 및 연관된 방법 Ceased KR20120082881A (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US12/559,698 US8386080B2 (en) 2009-09-15 2009-09-15 Robotic apparatus implementing collision avoidance scheme and associated methods
PCT/US2010/049187 WO2011035069A2 (en) 2009-09-15 2010-09-16 Robotic apparatus implementing collision avoidance scheme and associated methods

Publications (1)

Publication Number Publication Date
KR20120082881A true KR20120082881A (ko) 2012-07-24

Family

ID=43608017

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020127007877A Ceased KR20120082881A (ko) 2009-09-15 2010-09-16 충돌 회피 스킴을 실행하는 로보틱 장치 및 연관된 방법

Country Status (7)

Country Link
US (2) US8386080B2 (https=)
EP (2) EP2561964B1 (https=)
JP (1) JP2013504447A (https=)
KR (1) KR20120082881A (https=)
CN (1) CN102523737A (https=)
CA (1) CA2773712A1 (https=)
WO (1) WO2011035069A2 (https=)

Families Citing this family (79)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9333044B2 (en) 2011-12-30 2016-05-10 St. Jude Medical, Atrial Fibrillation Division, Inc. System and method for detection and avoidance of collisions of robotically-controlled medical devices
JP6262216B2 (ja) 2012-06-01 2018-01-17 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 零空間を使用して操作アーム間の衝突を回避するためのシステム及び方法
CN102902269B (zh) * 2012-09-21 2015-07-01 北京邮电大学 预选择最小距离指标冗余机器人动态避障方法
WO2014056533A1 (en) * 2012-10-11 2014-04-17 Abb Technology Ltd A method and an apparatus for automatically generating a collision free return program for returning a robot from a stop position to a predefined restart position
US9259282B2 (en) 2012-12-10 2016-02-16 Intuitive Surgical Operations, Inc. Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
WO2015013283A2 (en) * 2013-07-22 2015-01-29 Texas State University Autonomous performance optimization in robotic assembly process
CN105684032B (zh) * 2013-08-16 2020-05-12 直观外科手术操作公司 用于异构设备间的协调运动的系统和方法
US9993222B2 (en) 2014-02-05 2018-06-12 Intuitive Surgical Operations, Inc. System and method for dynamic virtual collision objects
JP6218631B2 (ja) 2014-02-18 2017-10-25 オリンパス株式会社 マニピュレータ装置の作動方法
JP6282140B2 (ja) * 2014-02-26 2018-02-21 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
US9555545B2 (en) 2014-05-21 2017-01-31 Bot & Dolly, Llc Systems and methods for time-based parallel robotic operation
US10073434B1 (en) 2014-07-25 2018-09-11 Jonathan Marc Hollander Manufacturing systems and methods with multiple independent toolheads
DE102014222857A1 (de) * 2014-11-10 2016-05-12 Kuka Roboter Gmbh Flexibles taktzeitoptimiertes Teilen eines Arbeitsraums für Roboter
US9434069B1 (en) 2014-11-10 2016-09-06 Google Inc. Motion heat map
DE102014225252A1 (de) * 2014-12-09 2016-06-09 Kuka Systems Gmbh Verfahren zum Überwachen wenigstens eines Industrieroboters, Industrieroboter und System mit mehreren Industrierobotern
DE102014226899A1 (de) * 2014-12-23 2016-06-23 Siemens Healthcare Gmbh Verfahren zum Betreiben eines medizinisch-robotischen Geräts und ein medizinisch-robotisches Gerät
WO2016128066A1 (en) 2015-02-13 2016-08-18 Abb Technology Ltd A method for avoiding collisions between two robots
JP6398777B2 (ja) * 2015-02-18 2018-10-03 トヨタ自動車株式会社 ロボット制御装置、制御方法、及び制御プログラム
EP3261571B1 (en) 2015-02-25 2023-03-08 Mako Surgical Corporation Navigation systems and methods for reducing tracking interruptions during a surgical procedure
CA3177820A1 (en) * 2015-05-01 2016-11-10 Titan Medical Inc. Instrument collision detection and feedback
US9792268B2 (en) * 2015-05-15 2017-10-17 Sap Se Zoomable web-based wall with natural user interface
EP3115857A1 (de) 2015-07-09 2017-01-11 Siemens Aktiengesellschaft Trajektorienbestimmungsverfahren für nebenzeitbewegungen
US9707681B2 (en) * 2015-07-27 2017-07-18 Siemens Industry Software Ltd. Anti-collision management of overlapping robotic movements
US9789610B1 (en) 2015-09-02 2017-10-17 X Development Llc Safe path planning for collaborative robots
US11305429B2 (en) * 2015-10-13 2022-04-19 ATENSOR Engineering and Technology Systems GmbH Synchronization of multiple robots
JP6328599B2 (ja) * 2015-11-20 2018-05-23 ファナック株式会社 ロボットの動作可能範囲を算出するロボットの手動送り装置
CN105479490A (zh) * 2015-12-24 2016-04-13 华中科技大学 一种双机器人实时动态避障装置及其避障方法
US10268177B2 (en) 2016-05-19 2019-04-23 The Boeing Company Method and apparatus of coordinating independent automated systems
US10065311B1 (en) * 2016-06-08 2018-09-04 X Development Llc Singularity handling for robot jogging
EP3537248A1 (en) 2016-06-10 2019-09-11 Duke University Motion planning for autonomous vehicles and reconfigurable motion planning processors
EP3287861A1 (en) * 2016-08-24 2018-02-28 Siemens Aktiengesellschaft Method for testing an autonomous system
EP3287243A1 (en) * 2016-08-24 2018-02-28 Siemens Aktiengesellschaft Method for collision detection and autonomous system
CN106444607B (zh) * 2016-10-09 2018-09-18 福州大学 多异构工业机器人数据通信及控制方法
CN106546759B (zh) * 2016-10-25 2018-04-13 广州誉康医药有限公司 用于全自动血型血清学分析系统的双机械臂协同控制方法
US10545480B2 (en) 2016-11-07 2020-01-28 Lincoln Global, Inc. System and method for manufacturing and control thereof
US10363657B2 (en) * 2016-12-23 2019-07-30 X Development Llc Multi-agent coordination under sparse networking
CN108044624A (zh) * 2017-12-11 2018-05-18 上海信耀电子有限公司 一种基于powerlink总线的机器人控制系统
WO2019139815A1 (en) 2018-01-12 2019-07-18 Duke University Apparatus, method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects
TWI822729B (zh) 2018-02-06 2023-11-21 美商即時機器人股份有限公司 用於儲存一離散環境於一或多個處理器之一機器人之運動規劃及其改良操作之方法及設備
ES2928250T3 (es) 2018-03-21 2022-11-16 Realtime Robotics Inc Planificación del movimiento de un robot para diversos entornos y tareas y mejora del funcionamiento del mismo
JP6730355B2 (ja) 2018-03-27 2020-07-29 ファナック株式会社 操作性を向上した統合シミュレーションシステム
CN108705540B (zh) * 2018-04-27 2020-10-30 中国地质大学（武汉） 一种双臂扬琴机器人的敲击避碰方法、设备及存储设备
US12330310B2 (en) 2018-08-23 2025-06-17 Realtime Robotics, Inc. Collision detection useful in motion planning for robotics
JP7144247B2 (ja) * 2018-09-03 2022-09-29 川崎重工業株式会社 ロボットの制御装置
DE102018008815A1 (de) * 2018-11-09 2020-05-14 Focke & Co. (Gmbh & Co. Kg) Verfahren zum Erkennen und/oder Vermeiden von Kollisionen von Maschinenorganen einer Verpackungsmaschine
US12204336B2 (en) 2018-12-04 2025-01-21 Duke University Apparatus, method and article to facilitate motion planning in an environment having dynamic objects
DE102018133472B3 (de) * 2018-12-21 2020-03-12 Franka Emika Gmbh Bewegungsüberwachung eines Robotermanipulators
JP7178900B2 (ja) * 2018-12-28 2022-11-28 川崎重工業株式会社 ロボットの作業計画作成方法および作業計画作成装置
JP7143776B2 (ja) * 2019-01-31 2022-09-29 オムロン株式会社 制御システム、及び、制御システムの制御方法
DE102019102803B4 (de) * 2019-02-05 2022-02-17 Franka Emika Gmbh Ausrichten zweier Roboterarme zueinander
CN109877837B (zh) * 2019-03-15 2021-08-24 珠海格力智能装备有限公司 机器人的控制方法及装置
WO2020214723A1 (en) 2019-04-17 2020-10-22 Real Time Robotics, Inc. Motion planning graph generation user interface, systems, methods and articles
CN110216670B (zh) * 2019-04-30 2022-04-15 武汉理工大学 一种基于损失场的工业机器人自动避障方法及装置
JP7479064B2 (ja) 2019-06-03 2024-05-08 リアルタイム ロボティクス， インコーポレーテッド 動的障害物を有する環境における動作計画を容易にする装置、方法及び物品
TWI873149B (zh) 2019-06-24 2025-02-21 美商即時機器人股份有限公司 用於多個機械手臂於共用工作空間中之移動規劃系統及方法
EP3993963B1 (en) 2019-08-23 2025-07-16 Realtime Robotics, Inc. Motion planning for robots to optimize velocity while maintaining limits on acceleration and jerk
US11747787B2 (en) * 2019-08-30 2023-09-05 Intrinsic Innovation Llc Combining transformers for robotics planning
WO2021041960A1 (en) 2019-08-30 2021-03-04 X Development Llc Splitting transformers for robotics planning
CN113001536B (zh) * 2019-12-20 2022-08-23 中国科学院沈阳计算技术研究所有限公司 一种面向协作多机器人的防碰撞检测方法及装置
CN111136658B (zh) * 2019-12-30 2021-10-19 广东博智林机器人有限公司 机器人的控制方法、装置、电子设备及存储介质
TWI887329B (zh) 2020-01-22 2025-06-21 美商即時機器人股份有限公司 於多機器人操作環境中之機器人之建置之方法及系統
GB2592960A (en) * 2020-03-12 2021-09-15 Mhwirth As Method and control system node for monitoring operations on drill floor
JP7484254B2 (ja) 2020-03-13 2024-05-16 オムロン株式会社 干渉判定装置、方法、及びプログラム
US12194639B2 (en) 2020-03-18 2025-01-14 Realtime Robotics, Inc. Digital representations of robot operational environment, useful in motion planning for robots
US11724387B2 (en) 2020-04-03 2023-08-15 Fanuc Corporation Fast robot motion optimization with distance field
US11919175B2 (en) 2020-04-15 2024-03-05 Mujin, Inc. Robotic system with collision avoidance mechanism and method of operation thereof
US11325256B2 (en) * 2020-05-04 2022-05-10 Intrinsic Innovation Llc Trajectory planning for path-based applications
CN111504328B (zh) 2020-05-22 2022-07-08 梅卡曼德（北京）机器人科技有限公司 机器人运动规划方法、路径规划方法、抓取方法及其装置
CN111906787A (zh) * 2020-08-10 2020-11-10 珠海格力智能装备有限公司 机器人的控制方法及控制装置、机器人
CN112092015B (zh) * 2020-09-10 2022-02-01 中科新松有限公司 机器人碰撞检测测试方法
US11772808B2 (en) * 2020-11-17 2023-10-03 Aerostar International, Llc Despin and rotational control architectures for lighter-than-air high altitude platforms
CN113069208B (zh) * 2021-03-31 2022-05-17 杭州三坛医疗科技有限公司 手术导航方法、装置、电子设备及存储介质
CN118159397A (zh) * 2021-10-20 2024-06-07 西门子工业软件有限公司 用于检测工业制造环境中对象的可能碰撞的方法和系统
US12337484B2 (en) 2021-11-17 2025-06-24 Lincoln Global, Inc. Robot with smart trajectory recording
US12172318B2 (en) 2021-11-17 2024-12-24 Lincoln Global, Inc. Robot with smart trajectory recording
JP7695868B2 (ja) * 2021-11-25 2025-06-19 株式会社日立製作所 ロボットシステム及びロボット制御装置
JP2024063579A (ja) * 2022-10-26 2024-05-13 株式会社日立製作所 製造設備の設計支援装置並びに設計支援方法
US20240280967A1 (en) * 2023-02-17 2024-08-22 Sanctuary Cognitive Systems Corporation Systems, methods, and computer program products for hierarchical multi-agent goal-seeking
CN121069883A (zh) * 2025-11-07 2025-12-05 南通百盛精密机械有限责任公司 并发分析驱动的生产线监控系统

Family Cites Families (44)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4412293A (en) * 1981-03-30 1983-10-25 Kelley Robert B Robot system which acquires cylindrical workpieces from bins
SE456048B (sv) 1982-02-24 1988-08-29 Philips Norden Ab Sett och anordning for att bestemma kollisionsrisken for tva inbordes rorliga kroppar
US5280431A (en) * 1985-08-30 1994-01-18 Texas Instruments Incorporated Method for controlling the movements of a mobile robot in a multiple node factory
US4644237A (en) * 1985-10-17 1987-02-17 International Business Machines Corp. Collision avoidance system
US4831549A (en) * 1987-07-28 1989-05-16 Brigham Young University Device and method for correction of robot inaccuracy
US5579444A (en) * 1987-08-28 1996-11-26 Axiom Bildverarbeitungssysteme Gmbh Adaptive vision-based controller
US5204942A (en) 1989-01-10 1993-04-20 Kabushiki Kaisha Kobe Seiko Sho Robot control system for controlling a set of industrial robots for cooperative operation
US5150452A (en) * 1989-07-28 1992-09-22 Megamation Incorporated Method and apparatus for anti-collision and collision protection for multiple robot system
US5247608A (en) * 1991-04-01 1993-09-21 At&T Bell Laboratories Method and apparatus for achieving dynamic path control of multiple robots
JP2895672B2 (ja) * 1992-01-28 1999-05-24 ファナック株式会社 複数ロボット制御方法
US5457367A (en) * 1993-08-06 1995-10-10 Cycle Time Corporation Tool center point calibration apparatus and method
US5675720A (en) 1993-09-14 1997-10-07 Fujitsu Limited Method of searching for points of closest approach, and preprocessing method therefor
JP3804994B2 (ja) * 1994-07-15 2006-08-02 ファナック株式会社 ロボットの教示方法
JPH08147020A (ja) * 1994-11-18 1996-06-07 Toyota Central Res & Dev Lab Inc ロボットの自動経路生成装置
US5798627A (en) 1995-01-04 1998-08-25 Gilliland; Malcolm T. Method for simultaneous operation of robot welders
JPH103308A (ja) 1996-06-18 1998-01-06 Fanuc Ltd 産業用ロボットの干渉回避方法
US6004016A (en) * 1996-08-06 1999-12-21 Trw Inc. Motion planning and control for systems with multiple mobile objects
JPH1097305A (ja) * 1996-09-24 1998-04-14 Mazda Motor Corp ロボットの制御方法
US6445964B1 (en) * 1997-08-04 2002-09-03 Harris Corporation Virtual reality simulation-based training of telekinegenesis system for training sequential kinematic behavior of automated kinematic machine
US6243621B1 (en) * 1998-03-13 2001-06-05 Fanuc Robotics North America, Inc. Method of determining workpiece positions including coordinated motion
US5959425A (en) * 1998-10-15 1999-09-28 Fanuc Robotics North America, Inc. Vision guided automatic robotic path teaching method
US6526373B1 (en) * 1999-10-08 2003-02-25 Dassault Systemes Optimization tool for robot placement
AT412196B (de) * 2000-03-17 2004-11-25 Keba Ag Verfahren zur zuordnung einer mobilen bedien- und/oder beobachtungseinrichtung zu einer maschine sowie bedien- und/oder beobachtungseinrichtung hierfür
US6678582B2 (en) * 2002-05-30 2004-01-13 Kuka Roboter Gmbh Method and control device for avoiding collisions between cooperating robots
JP4513568B2 (ja) * 2002-07-18 2010-07-28 株式会社安川電機 ロボット制御装置
DE20211755U1 (de) * 2002-07-30 2003-12-18 Kuka Schweissanlagen Gmbh Bearbeitungsanlage
DE10305384A1 (de) * 2003-02-11 2004-08-26 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Visualisierung rechnergestützter Informationen
DE102004021468A1 (de) * 2004-04-30 2005-11-24 Kuka Roboter Gmbh Verfahren zum Steuern einer Maschine, insbesondere eines Industrieroboters
DE102004027944B4 (de) * 2004-06-08 2012-02-16 Kuka Laboratories Gmbh Verfahren zum Schützen eines Roboters gegen Kollisionen
US9104197B2 (en) * 2004-06-15 2015-08-11 Abb Ab Method and system for off-line programming of multiple interacting robots
US7979157B2 (en) * 2004-07-23 2011-07-12 Mcmaster University Multi-purpose robotic operating system and method
DE102004062163A1 (de) * 2004-12-20 2006-06-22 Dr. Johannes Heidenhain Gmbh Verfahren zur Ermittlung einer möglichen Kollision mindestens zweier zueinander beweglicher Objekte
DE102005009437A1 (de) * 2005-03-02 2006-09-07 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Einblenden von AR-Objekten
US20060241813A1 (en) * 2005-04-22 2006-10-26 Applied Materials, Inc. Optimized cluster tool transfer process and collision avoidance design
GB0513899D0 (en) * 2005-07-06 2005-08-10 Airbus Uk Ltd Program-controlled process
WO2007141649A1 (en) * 2006-06-06 2007-12-13 Abb Research Ltd Improved method and system for operating a cyclic production machine in coordination with a loader or unloader machine
DE602006012485D1 (de) 2006-09-14 2010-04-08 Abb Research Ltd Verfahren und Vorrichtung zur Vermeidung von Kollisionen zwischen einem Industrieroboter und einem Objekt
JP4328813B2 (ja) * 2007-04-06 2009-09-09 本田技研工業株式会社 移動装置、ならびにその制御方法および制御プログラム
JP4576445B2 (ja) 2007-04-12 2010-11-10 パナソニック株式会社 自律移動型装置および自律移動型装置用プログラム
US8046102B2 (en) * 2007-05-17 2011-10-25 Fanuc Robotics America, Inc. Control method for synchronous high speed motion stop for multi-top loaders across controllers
US8655429B2 (en) * 2007-06-29 2014-02-18 Accuray Incorporated Robotic arm for a radiation treatment system
JP5156836B2 (ja) 2007-10-26 2013-03-06 本田技研工業株式会社 リアルタイム自己衝突および障害物回避
US8396595B2 (en) * 2007-11-01 2013-03-12 Honda Motor Co., Ltd. Real-time self collision and obstacle avoidance using weighting matrix
JP5025598B2 (ja) * 2008-08-29 2012-09-12 三菱電機株式会社 干渉チェック制御装置および干渉チェック制御方法

Also Published As

Publication number Publication date
EP2561964B1 (en) 2014-11-12
EP2477792A2 (en) 2012-07-25
CN102523737A (zh) 2012-06-27
US20130151008A1 (en) 2013-06-13
WO2011035069A2 (en) 2011-03-24
CA2773712A1 (en) 2011-03-24
EP2477792B1 (en) 2013-07-31
US8527091B2 (en) 2013-09-03
JP2013504447A (ja) 2013-02-07
WO2011035069A3 (en) 2011-05-05
US20110066282A1 (en) 2011-03-17
EP2561964A1 (en) 2013-02-27
US8386080B2 (en) 2013-02-26

Similar Documents

Publication Publication Date Title
KR20120082881A (ko) 충돌 회피 스킴을 실행하는 로보틱 장치 및 연관된 방법
JP7332199B2 (ja) 共用ワークスペースにおける複数のロボットの動作計画
KR102026490B1 (ko) 로봇을 제어하기 위한 방법 및 제어수단
US8311731B2 (en) Robots with collision avoidance functionality
US8160745B2 (en) Robots with occlusion avoidance functionality
WO2023173000A1 (en) Motion planning and control for robots in shared workspace employing staging poses
JP2023075884A (ja) 動的動作計画システム
CN114536342A (zh) 一种多臂系统及其臂间防撞控制方法
TW202415506A (zh) 穩健運動規劃及/或用於多機器人環境之控制
JP2008242859A (ja) 物体の運動制御装置及び運動制御方法、並びにコンピュータ・プログラム
Selvaggio et al. Towards a self-collision aware teleoperation framework for compound robots
Spencer et al. Collision avoidance techniques for tele-operated and autonomous manipulators in overlapping workspaces
KR101712116B1 (ko) 로봇 팔의 파지 궤적 생성 방법 및 장치
Zube Combined workspace monitoring and collision avoidance for mobile manipulators
Afaghani et al. Advanced-collision-map-based on-line collision and deadlock avoidance between two robot manipulators with PTP commands
Bedada et al. A safe and energy efficient robotic system for industrial automatic tests on domestic appliances: Problem statement and proof of concept
Puiu et al. Real-time collision avoidance for redundant manipulators
Soucy et al. Flexible fuzzy logic control for collision-free manipulator operation
Zhang Real-Time Configuration Control System for Redundant Manipulators and Analysis of Avoidance Space
HK40116937A (zh) 采用分段姿态的共享工作空间机器人的运动规划与控制
HK40120090A (zh) 采用前瞻规划的共享工作空间中的机器人的运动规划与控制
Puiu et al. Real-time path planner for arm robot collision avoidance
HK40072330A (en) Motion planning for multiple robots in shared workspace
Chen et al. On-line Posture Generation of Redundant Manipulator for Collision Advoidance in Dynamic Environment
Reyes-Amaro et al. Using Particle Filters to Find Free Obstacle Trajectories for a Kinematic Chain

Legal Events

Date Code Title Description
A201 Request for examination
PA0105 International application

Patent event date: 20120327

Patent event code: PA01051R01D

Comment text: International Patent Application

PA0201 Request for examination

Patent event code: PA02012R01D

Patent event date: 20120327

Comment text: Request for Examination of Application

PG1501 Laying open of application
E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

Comment text: Notification of reason for refusal

Patent event date: 20130506

Patent event code: PE09021S01D

E601 Decision to refuse application
PE0601 Decision on rejection of patent

Patent event date: 20130724

Comment text: Decision to Refuse Application

Patent event code: PE06012S01D

Patent event date: 20130506

Comment text: Notification of reason for refusal

Patent event code: PE06011S01I