PT2911832T - Resumo - Google Patents

Resumo

Info

Publication number
PT2911832T
PT2911832T PT137956033T PT13795603T PT2911832T PT 2911832 T PT2911832 T PT 2911832T PT 137956033 T PT137956033 T PT 137956033T PT 13795603 T PT13795603 T PT 13795603T PT 2911832 T PT2911832 T PT 2911832T
Authority
PT
Portugal
Prior art keywords
determination
joint
property
Prior art date
Application number
PT137956033T
Other languages
English (en)
Inventor
Nilsson Klas
Original Assignee
Cognibotics Ab
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 Cognibotics Ab filed Critical Cognibotics Ab
Publication of PT2911832T publication Critical patent/PT2911832T/pt

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
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • 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
    • G05B2219/40381—Control trajectory in case of joint limit, clamping of 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
    • G05B2219/41059—Play in gear, screw backlash, lost motion

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
PT137956033T 2012-10-23 2013-10-21 Resumo PT2911832T (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1251196A SE536708C2 (sv) 2012-10-23 2012-10-23 Metod och system för bestämning av minst en egenskap hos enmanipulator

Publications (1)

Publication Number Publication Date
PT2911832T true PT2911832T (pt) 2017-05-08

Family

ID=49641828

Family Applications (1)

Application Number Title Priority Date Filing Date
PT137956033T PT2911832T (pt) 2012-10-23 2013-10-21 Resumo

Country Status (18)

Country Link
US (1) US9645565B2 (pt)
EP (1) EP2911832B1 (pt)
JP (1) JP6238421B2 (pt)
KR (1) KR102144142B1 (pt)
CN (1) CN104736307B (pt)
AU (1) AU2013335352B2 (pt)
BR (1) BR112015008933B1 (pt)
CA (1) CA2887038C (pt)
DK (1) DK2911832T3 (pt)
ES (1) ES2622304T3 (pt)
HK (1) HK1211538A1 (pt)
HU (1) HUE033139T2 (pt)
IN (1) IN2015DN03959A (pt)
MX (1) MX343791B (pt)
PT (1) PT2911832T (pt)
RU (1) RU2667938C2 (pt)
SE (1) SE536708C2 (pt)
WO (1) WO2014065744A1 (pt)

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US11209121B2 (en) * 2016-04-26 2021-12-28 The Boeing Company Lifting support device and method of controlling operation
US10182875B2 (en) * 2016-08-16 2019-01-22 Ethicon Llc Robotic visualization and collision avoidance
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CN111434075A (zh) * 2017-12-06 2020-07-17 日本电产株式会社 设备id设定装置以及设定方法
CN108015750A (zh) * 2018-01-15 2018-05-11 上海联影医疗科技有限公司 医用机械臂
JP6862604B2 (ja) * 2018-03-07 2021-04-21 株式会社Ｆｕｊｉ 垂直多関節ロボットの慣性パラメータ同定システム及び慣性パラメータ同定方法並びに垂直多関節ロボットの制御装置及び制御方法
CN108381542B (zh) * 2018-04-04 2024-05-28 中国科学院自动化研究所 基于混合传动的水下机械臂
CN108716962A (zh) * 2018-05-10 2018-10-30 珞石（山东）智能科技有限公司 机器人末端力传感器零偏和负载参数同步标定方法
JP7194910B2 (ja) * 2018-07-02 2022-12-23 パナソニックＩｐマネジメント株式会社 ロボット制御方法及びロボット制御装置
US11353345B2 (en) * 2019-07-22 2022-06-07 Boston Dynamics, Inc. Magnetic encoder calibration
WO2021044297A1 (en) 2019-09-03 2021-03-11 Auris Health, Inc. Electromagnetic distortion detection and compensation
GB2588629B (en) * 2019-10-29 2024-01-03 Cmr Surgical Ltd Robotic joint control
KR102356660B1 (ko) * 2019-11-01 2022-02-07 주식회사 뉴로메카 다자유도 협동 로봇의 마찰 보상 방법
US11772260B2 (en) * 2019-11-22 2023-10-03 Samsung Electronics Co., Ltd. Planetary gear transmission device and robot having the same
CN110928180B (zh) * 2019-12-04 2023-03-28 中国直升机设计研究所 一种作动器的迟滞补偿方法和装置
RU202008U1 (ru) * 2020-07-03 2021-01-27 Общество с ограниченной ответственностью "Арипикс Роботикс" Шестиосевой робот с пятью вращательными и одной линейной вертикальной осью
GB2596813A (en) * 2020-07-06 2022-01-12 Cmr Surgical Ltd Characterising the performance of a robotic joint
US11959823B2 (en) * 2020-09-23 2024-04-16 Schlumberger Technology Corporation Measuring backlash of a drive train
US11826910B2 (en) * 2021-05-20 2023-11-28 Carnegie Mellon University Direct drive end-effectors with parallel kinematics

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Also Published As

Publication number Publication date
RU2015114788A3 (pt) 2018-08-02
JP2015536249A (ja) 2015-12-21
KR20150086277A (ko) 2015-07-27
HK1211538A1 (en) 2016-05-27
SE536708C2 (sv) 2014-06-10
JP6238421B2 (ja) 2017-11-29
ES2622304T3 (es) 2017-07-06
WO2014065744A1 (en) 2014-05-01
AU2013335352A1 (en) 2015-04-16
CA2887038C (en) 2020-10-20
WO2014065744A4 (en) 2014-07-10
RU2015114788A (ru) 2016-12-20
BR112015008933B1 (pt) 2021-02-09
HUE033139T2 (en) 2017-11-28
EP2911832A1 (en) 2015-09-02
MX343791B (es) 2016-11-23
BR112015008933A2 (pt) 2017-07-04
CN104736307B (zh) 2017-03-08
SE1251196A1 (sv) 2014-04-24
US20150248121A1 (en) 2015-09-03
IN2015DN03959A (pt) 2015-10-02
RU2667938C2 (ru) 2018-09-25
EP2911832B1 (en) 2017-02-08
DK2911832T3 (en) 2017-05-22
CA2887038A1 (en) 2014-05-01
MX2015005051A (es) 2015-12-09
CN104736307A (zh) 2015-06-24
US9645565B2 (en) 2017-05-09
KR102144142B1 (ko) 2020-08-12
AU2013335352B2 (en) 2016-12-22

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