MX341554B - Controlador de movimiento para estructuras de robot elásticas. - Google Patents

Controlador de movimiento para estructuras de robot elásticas.

Info

Publication number
MX341554B
MX341554B MX2009012527A MX2009012527A MX341554B MX 341554 B MX341554 B MX 341554B MX 2009012527 A MX2009012527 A MX 2009012527A MX 2009012527 A MX2009012527 A MX 2009012527A MX 341554 B MX341554 B MX 341554B
Authority
MX
Mexico
Prior art keywords
robot
axis
individual
path
coordinates
Prior art date
Application number
MX2009012527A
Other languages
English (en)
Other versions
MX2009012527A (es
Inventor
Jens Häcker
Björn Schoell
Alexander Meissner
Original Assignee
Duerr Systems Gmbh
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=39767045&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=MX341554(B) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Duerr Systems Gmbh filed Critical Duerr Systems Gmbh
Publication of MX2009012527A publication Critical patent/MX2009012527A/es
Publication of MX341554B publication Critical patent/MX341554B/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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • 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
    • G05B2219/39181—Compensation of coulomb friction in joint
    • 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
    • G05B2219/39186—Flexible joint
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41127—Compensation for temperature variations of servo
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41443—Position reference ffw for compensation of position
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41448—Ffw friction compensation for speed error, derived from position reference

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

La invención es concerniente con un método de control para un robot multiaxial, en particular para un robot de pintura, de acuerdo con la reivindicación principal.
MX2009012527A 2007-05-24 2008-05-07 Controlador de movimiento para estructuras de robot elásticas. MX341554B (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007024143A DE102007024143A1 (de) 2007-05-24 2007-05-24 Bewegungssteuerung für elastische Roboterstrukturen
PCT/EP2008/003674 WO2008141730A1 (de) 2007-05-24 2008-05-07 Bewegungssteuerung für elastische roboterstrukturen

Publications (2)

Publication Number Publication Date
MX2009012527A MX2009012527A (es) 2009-12-03
MX341554B true MX341554B (es) 2016-08-24

Family

ID=39767045

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2009012527A MX341554B (es) 2007-05-24 2008-05-07 Controlador de movimiento para estructuras de robot elásticas.

Country Status (11)

Country Link
US (1) US8527092B2 (es)
EP (1) EP2146825B1 (es)
KR (1) KR101548945B1 (es)
CN (1) CN101678551B (es)
AT (1) ATE497865T1 (es)
BR (1) BRPI0811741B1 (es)
DE (2) DE102007024143A1 (es)
ES (1) ES2360912T3 (es)
MX (1) MX341554B (es)
RU (1) RU2487796C2 (es)
WO (1) WO2008141730A1 (es)

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009007026A1 (de) 2009-02-02 2010-08-05 Kuka Roboter Gmbh Steuerung und Steuerungsverfahren für einen Manipulator
DE102010004496B4 (de) 2010-01-12 2020-06-18 Hermann Müller Verfahren zum Betrieb einer Vorrichtung zum Beschichten und/oder Bedrucken eines Werkstückes
FR2960808B1 (fr) * 2010-06-02 2012-05-25 Commissariat Energie Atomique Procede d'identification de frottements dans une articulation de bras de robot ou de bras manipulateur, et procede de compensation de couple faisant application
KR101121474B1 (ko) * 2010-12-01 2012-03-13 대성전기공업 주식회사 Ｄｃ 서보모터 시스템의 관성모멘트와 마찰계수를 구하는 방법
DE102011010505A1 (de) * 2011-02-07 2012-08-09 Dürr Systems GmbH Anpassung der Dynamik zumindest eines Roboters
DE102011111758A1 (de) 2011-08-24 2013-02-28 Dürr Systems GmbH Steuerverfahren für einen Roboter
JP2014034101A (ja) * 2012-08-10 2014-02-24 Toshiba Corp ロボット制御装置
EP2890528B1 (en) * 2012-08-28 2016-03-23 Rethink Robotics Inc. Monitoring robot sensor consistency
JP5642214B2 (ja) * 2013-02-15 2014-12-17 株式会社神戸製鋼所 多関節ロボットの弾性変形補償制御装置
EP2954986B1 (de) 2014-06-10 2020-05-06 Siemens Aktiengesellschaft Vorrichtung und Verfahren zum Steuern und Regeln eines Mehrkörpersystems
US20160214261A1 (en) * 2015-01-22 2016-07-28 GM Global Technology Operations LLC Collaborative robot system and method
US10272573B2 (en) * 2015-12-18 2019-04-30 Ge Global Sourcing Llc Control system and method for applying force to grasp a brake lever
DE102015211405A1 (de) * 2015-06-22 2016-12-22 Kuka Roboter Gmbh Verbesserung der Temperaturdriftkompensation durch Kalibrierung am Bauteil und Einlernen der Parametersätze
DE102015211406A1 (de) * 2015-06-22 2016-12-22 Kuka Roboter Gmbh Verbesserung der Temperaturdriftkompensation durch Einlernen der Restdrift
AT518354B1 (de) * 2016-02-02 2018-06-15 B & R Ind Automation Gmbh Verfahren zum Betreiben einer Fördereinrichtung in Form eines Langstatorlinearmotors
AT518270B1 (de) * 2016-02-05 2017-09-15 Bernecker + Rainer Industrie-Elektronik Ges M B H Verfahren zum Steuern der Bewegung einer Antriebsachse einer Antriebseinheit
CN106003023A (zh) * 2016-05-25 2016-10-12 珠海格力智能装备有限公司 机器人运动控制系统和方法
RU2671787C1 (ru) * 2017-07-10 2018-11-06 Общество с ограниченной ответственностью "Эйдос - Робототехника" Способ повышения точности позиционирования промышленного робота
JP6915470B2 (ja) * 2017-09-21 2021-08-04 株式会社デンソーウェーブ ロボットの制御装置
JP6926882B2 (ja) * 2017-09-21 2021-08-25 株式会社デンソーウェーブ ロボットの制御装置
DE102018209044B3 (de) * 2018-06-07 2019-11-07 Kuka Deutschland Gmbh Kraftregelung eines Roboters
CN109108973B (zh) * 2018-08-29 2021-05-07 广州安商智能科技有限公司 单向式路径调度方法及系统
DE102018128175A1 (de) 2018-11-12 2020-05-14 Technische Universität Darmstadt Verfahren und Vorrichtung zur Ermittlung von Verlagerungen eines Werkzeugmittelpunktes
EP3764536A1 (en) * 2019-07-11 2021-01-13 DENTSPLY SIRONA Inc. Method of operating a stepper motor in a dental tool machine
WO2021062694A1 (zh) * 2019-09-30 2021-04-08 西门子（中国）有限公司 控制机器人的方法、装置、系统、存储介质和终端
KR20230091280A (ko) 2021-12-16 2023-06-23 주식회사 로보테크 통합 좌표계를 생성하는 로봇 제어 시스템 및 로봇 제어 시스템의 통합 좌표계 생성 방법
DE102022205011A1 (de) 2022-05-19 2023-11-23 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Bestimmen eines Moments für einen Betrieb eines Roboters unter Verwendung eines Modells und Verfahren zum Einlernen des Modells

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05277976A (ja) * 1992-03-31 1993-10-26 Nippon Telegr & Teleph Corp <Ntt> 動力学モデルパラメータ同定装置
SE509443C2 (sv) * 1997-05-15 1999-01-25 Asea Brown Boveri Förfarande för övervakning av en manipulators rörelsestyrning
SE516720C2 (sv) * 1999-04-01 2002-02-19 Abb Ab Utrustning för styrning av en industrirobot och förfarande för programmering och/eller justering av robotens rörelse
CA2272966C (en) * 1999-05-26 2004-07-20 Camoplast Inc. Twin chopper device for spray-up molding
SE0001312D0 (sv) * 2000-04-10 2000-04-10 Abb Ab Industrirobot
US6519860B1 (en) * 2000-10-19 2003-02-18 Sandia Corporation Position feedback control system
RU2193480C1 (ru) * 2002-01-25 2002-11-27 Дальневосточный государственный технический университет Устройство для управления приводом робота
JP4391218B2 (ja) * 2003-02-20 2009-12-24 三菱電機株式会社 サーボ制御装置
JP4033050B2 (ja) * 2003-06-16 2008-01-16 トヨタ自動車株式会社 ロボットハンドの把持制御装置
DE10342471B4 (de) 2003-09-15 2007-08-16 Dürr Systems GmbH Regeleinrichtung für einen mehrachsigen Roboter
JP2005335010A (ja) 2004-05-26 2005-12-08 Toyota Motor Corp 把持制御装置
DE102004056861A1 (de) * 2004-11-25 2006-06-08 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Regeln, Steuern von Manipulatoren

Also Published As

Publication number Publication date
RU2487796C2 (ru) 2013-07-20
KR20100023846A (ko) 2010-03-04
DE502008002561D1 (de) 2011-03-24
BRPI0811741A2 (pt) 2014-11-11
RU2009148022A (ru) 2011-06-27
WO2008141730A1 (de) 2008-11-27
US20100198405A1 (en) 2010-08-05
CN101678551B (zh) 2012-02-22
EP2146825B1 (de) 2011-02-09
ES2360912T3 (es) 2011-06-10
MX2009012527A (es) 2009-12-03
CN101678551A (zh) 2010-03-24
KR101548945B1 (ko) 2015-09-02
DE102007024143A1 (de) 2008-11-27
BRPI0811741B1 (pt) 2019-09-17
US8527092B2 (en) 2013-09-03
EP2146825A1 (de) 2010-01-27
ATE497865T1 (de) 2011-02-15

Similar Documents

Publication Publication Date Title
MX341554B (es) Controlador de movimiento para estructuras de robot elásticas.
JP5774223B2 (ja) ロボット制御装置およびロボット制御方法
EP1464452A3 (en) Method and control system for controlling a plurality of robots
US20200282558A1 (en) System and method for controlling a robot with torque-controllable actuators
Steinmetz et al. Simultaneous kinesthetic teaching of positional and force requirements for sequential in-contact tasks
EP2777597A3 (en) Robots and methods of controlling the same
WO2006040868A8 (ja) 脚式移動ロボットの歩容生成装置
CN106737662A (zh) 机器人系统
EP1814000A3 (en) Controller for electric motor
WO2017052350A3 (ko) 로봇 제어 방법 및 장치
JP2010137298A5 (es)
EP3993963A4 (en) MOTION PLANNING FOR ROBOTS TO OPTIMIZE SPEED WHILE RESPECTING ACCELERATION AND JERK LIMITS
JP2012157955A (ja) 移動制御装置及び移動制御方法、並びにコンピューター・プログラム
EP4060446A4 (en) ROBOT CONTROL MODEL LEARNING METHOD, ROBOT CONTROL MODEL LEARNING DEVICE, ROBOT CONTROL MODEL LEARNING PROGRAM, ROBOT CONTROL METHOD, ROBOT CONTROL DEVICE, ROBOT CONTROL PROGRAM AND ROBOT
Nakanishi et al. Spatio-temporal optimization of multi-phase movements: Dealing with contacts and switching dynamics
JP2013255981A (ja) ロボット制御装置および撓み補正方法
CN110587611A (zh) 电视机组装线的机械臂控制方法
Qian et al. Sensorless hybrid normal-force controller with surface prediction
CN111376262A (zh) 机器人离线编程方法
Yang et al. Admittance control of a 3-DOF cable-driven rehabilitation robot for upper-limb in three dimensional workspace
Papageorgiou et al. Task geometry aware assistance for kinesthetic teaching of redundant robots
Jiang et al. Optimal control of non-prehensile manipulation control by two cooperative arms
WO2005091090A3 (en) Industrial robot system, method and computer program
Togashi et al. A low cost and lightweight wire driven robot arm by using elastic strings
Liang et al. Adaptive visual tracking control of uncertain rigid-link electrically driven robotic manipulators with an uncalibrated fixed camera

Legal Events

Date Code Title Description
FG Grant or registration