KR20230159866A - 로봇-보조 표면 가공용 힘-제어 처리 장치 - Google Patents

로봇-보조 표면 가공용 힘-제어 처리 장치 Download PDF

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Publication number
KR20230159866A
KR20230159866A KR1020237035989A KR20237035989A KR20230159866A KR 20230159866 A KR20230159866 A KR 20230159866A KR 1020237035989 A KR1020237035989 A KR 1020237035989A KR 20237035989 A KR20237035989 A KR 20237035989A KR 20230159866 A KR20230159866 A KR 20230159866A
Authority
KR
South Korea
Prior art keywords
force
tool
contact
flange
linear actuator
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.)
Pending
Application number
KR1020237035989A
Other languages
English (en)
Korean (ko)
Inventor
로날드 네이더러
Original Assignee
페로보틱스 컴플라이언트 로봇 테크놀로지 게엠베하
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 페로보틱스 컴플라이언트 로봇 테크놀로지 게엠베하 filed Critical 페로보틱스 컴플라이언트 로봇 테크놀로지 게엠베하
Publication of KR20230159866A publication Critical patent/KR20230159866A/ko
Pending 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
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J9/1694—Program 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37405—Contact detection between workpiece and tool, probe, feeler
    • 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
    • G05B2219/39529—Force, torque sensor in wrist, end effector
    • 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
    • G05B2219/39577—Active electromechanical compliance for wrist

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
KR1020237035989A 2021-03-22 2022-03-22 로봇-보조 표면 가공용 힘-제어 처리 장치 Pending KR20230159866A (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102021106990.4 2021-03-22
DE102021106990.4A DE102021106990A1 (de) 2021-03-22 2021-03-22 Kraftgeregelte Handhabungsvorrichtung für die robotergestützte Oberflächenbearbeitung
PCT/EP2022/057458 WO2022200329A1 (de) 2021-03-22 2022-03-22 Kraftgeregelte handhabungsvorrichtung für die robotergestützte oberflächenbearbeitung

Publications (1)

Publication Number Publication Date
KR20230159866A true KR20230159866A (ko) 2023-11-22

Family

ID=81344389

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020237035989A Pending KR20230159866A (ko) 2021-03-22 2022-03-22 로봇-보조 표면 가공용 힘-제어 처리 장치

Country Status (7)

Country Link
US (1) US20240173858A1 (https=)
EP (1) EP4313506A1 (https=)
JP (1) JP2024510677A (https=)
KR (1) KR20230159866A (https=)
CN (1) CN117042930A (https=)
DE (1) DE102021106990A1 (https=)
WO (1) WO2022200329A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI20215948A1 (en) * 2021-09-09 2023-03-10 Mirka Ltd Method and apparatus for surface processing
US12397421B2 (en) 2021-12-22 2025-08-26 Ati Industrial Automation, Inc. Contact force overshoot mitigation in pneumatic force control devices
DE102023109766B3 (de) 2023-04-18 2024-10-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum Steuern einer Robotereinrichtung
CN117381763B (zh) * 2023-10-18 2024-05-31 芜湖藦卡机器人科技有限公司 一种机器人工具手自动标定检测机构及检测方法
CN119427074A (zh) * 2025-01-13 2025-02-14 泉州装备制造研究所 多自由度浮动加工方法及多自由度浮动加工系统

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* Cited by examiner, † Cited by third party
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KR100941851B1 (ko) * 2008-01-28 2010-02-11 최광배 공작기계의 공구파손 감지방법 및 감지장치
WO2010082452A1 (ja) * 2009-01-13 2010-07-22 パナソニック株式会社 弾性体アクチュエータの制御装置及び制御方法、並びに、制御プログラム
DE102010003697B4 (de) 2010-04-07 2012-12-06 Ferrobotics Compliant Robot Technology Gmbh Aktive Handhabungsvorrichtung und Verfahren für Kontaktaufgaben
DE102011006679B4 (de) 2011-03-16 2018-07-12 Ferrobotics Compliant Robot Technology Gmbh Aktive Handhabungsvorrichtung und Verfahren für Kontaktaufgaben
DE102014119532B4 (de) 2014-12-23 2016-11-03 Ferrobotics Compliant Robot Technology Gmbh Robotergestütztes Schleifverfahren und Vorrichtung zum robotergestützten Schleifen
DE102015102642B4 (de) * 2015-02-24 2017-07-27 Kastanienbaum GmbH Vorrichtung und Verfahren zur Steuerung und Regelung eines Roboter-Manipulators
DE102015104164B4 (de) 2015-03-19 2019-05-29 Ferrobotics Compliant Robot Technology Gmbh Verfahren und Vorrichtung zur robotergestützten Oberflächenbearbeitung
CN105196296A (zh) * 2015-08-13 2015-12-30 江苏汇博机器人技术有限公司 一种应用于打磨工业机器人作业的末端力反馈系统及方法
DE102016219128B4 (de) 2016-09-30 2021-07-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum Durchführen von Wischbewegungen durch einen Roboterarm
JP2018202504A (ja) 2017-05-31 2018-12-27 ソニー株式会社 医療用支持アームシステム、医療用支持アームの制御方法、および医療用支持アームの制御装置
JP6456555B1 (ja) 2017-11-02 2019-01-23 三菱電機株式会社 キャリブレーション装置、キャリブレーション方法および制御装置
JP6748126B2 (ja) 2018-02-08 2020-08-26 ファナック株式会社 作業ロボットシステム
US10953548B2 (en) 2018-07-19 2021-03-23 International Business Machines Corporation Perform peg-in-hole task with unknown tilt
US10369701B1 (en) 2018-10-30 2019-08-06 Mujin, Inc. Automated package registration systems, devices, and methods
DE102019105022C5 (de) * 2019-02-27 2024-11-07 Seconsys GmbH Kontaktflanschsystem und Verfahren zum Bearbeiten einer Werkstückoberfläche

Also Published As

Publication number Publication date
WO2022200329A1 (de) 2022-09-29
DE102021106990A1 (de) 2022-09-22
US20240173858A1 (en) 2024-05-30
EP4313506A1 (de) 2024-02-07
JP2024510677A (ja) 2024-03-08
CN117042930A (zh) 2023-11-10

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