MX2019010255A - Sistema de evasion de colision del modo de aprendizaje y metodo para manipuladores roboticos industriales. - Google Patents

Sistema de evasion de colision del modo de aprendizaje y metodo para manipuladores roboticos industriales.

Info

Publication number
MX2019010255A
MX2019010255A MX2019010255A MX2019010255A MX2019010255A MX 2019010255 A MX2019010255 A MX 2019010255A MX 2019010255 A MX2019010255 A MX 2019010255A MX 2019010255 A MX2019010255 A MX 2019010255A MX 2019010255 A MX2019010255 A MX 2019010255A
Authority
MX
Mexico
Prior art keywords
robot
teach pendant
operator
motion
collision avoidance
Prior art date
Application number
MX2019010255A
Other languages
English (en)
Inventor
Krasny Darren
SCHMID Zachary
Original Assignee
Battelle Memorial Institute
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 Battelle Memorial Institute filed Critical Battelle Memorial Institute
Publication of MX2019010255A publication Critical patent/MX2019010255A/es

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
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • 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
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details, by setting parameters
    • 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
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/427—Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35471—Select between run and step command mode, step forward, reverse
    • 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
    • G05B2219/39433—Enter a move file, robot will follow a series of instructions
    • 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
    • G05B2219/39434—Each function key of pc corresponds to a motor, jog each motor
    • 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
    • G05B2219/39443—Portable, adapted to handpalm, with joystick, function keys, display
    • 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
    • G05B2219/39445—Select between jog modes, user, robot coordinates, tool, system feed, joint feed
    • 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
    • G05B2219/40311—Real time simulation
    • 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
    • G05B2219/40317—For collision avoidance and detection
    • 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
    • G05B2219/49158—On near collision reduce speed

Abstract

Un sistema de robot (100) incluye un robot (110), una caja de comandos (130) que tiene una interfaz de operador, y un controlador de robot (120) con una computadora (140) y hardware y software asociados que contienen una representación virtual del robot (110) y el ambiente (151). El sistema (100) emplea un método para evitar colisiones que incluyen mover un brazo manipulador (165) a lo largo de una trayectoria real (175) en un ambiente (151) que contiene objetos (177) que constituyen geometría de colisión. Se ingresa una entrada de operador en la caja de comandos (130), por lo cual el operador es capaz de controlar directamente el movimiento del robot (110) a lo largo de la trayectoria real (175). Un historial reciente del movimiento del robot (110) se registra, y una trayectoria prevista (660) del robot (110) se desarrolla con base en la entrada ingresada en la caja de comandos (130) y el historial reciente del movimiento del robot (110), revisión de colisión en tiempo real entre la trayectoria prevista (660) y la geometría de colisión se realiza mientras el operador controla manualmente el robot (110) al usar la caja de comandos (130).
MX2019010255A 2017-04-13 2018-01-31 Sistema de evasion de colision del modo de aprendizaje y metodo para manipuladores roboticos industriales. MX2019010255A (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201762485159P 2017-04-13 2017-04-13
US15/789,032 US10766140B2 (en) 2017-04-13 2017-10-20 Teach mode collision avoidance system and method for industrial robotic manipulators
PCT/US2018/016141 WO2018190936A1 (en) 2017-04-13 2018-01-31 Teach mode collision avoidance system and method for industrial robotic manipulators

Publications (1)

Publication Number Publication Date
MX2019010255A true MX2019010255A (es) 2019-10-21

Family

ID=63791884

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2019010255A MX2019010255A (es) 2017-04-13 2018-01-31 Sistema de evasion de colision del modo de aprendizaje y metodo para manipuladores roboticos industriales.

Country Status (6)

Country Link
US (1) US10766140B2 (es)
EP (1) EP3609655A1 (es)
JP (1) JP7113847B2 (es)
CA (1) CA3056861A1 (es)
MX (1) MX2019010255A (es)
WO (1) WO2018190936A1 (es)

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Also Published As

Publication number Publication date
US10766140B2 (en) 2020-09-08
JP2020516475A (ja) 2020-06-11
US20180297204A1 (en) 2018-10-18
JP7113847B2 (ja) 2022-08-05
CA3056861A1 (en) 2018-10-18
WO2018190936A1 (en) 2018-10-18
EP3609655A1 (en) 2020-02-19

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