SE0203655D0 - collision Protection - Google Patents

collision Protection

Info

Publication number
SE0203655D0
SE0203655D0 SE0203655A SE0203655A SE0203655D0 SE 0203655 D0 SE0203655 D0 SE 0203655D0 SE 0203655 A SE0203655 A SE 0203655A SE 0203655 A SE0203655 A SE 0203655A SE 0203655 D0 SE0203655 D0 SE 0203655D0
Authority
SE
Sweden
Prior art keywords
robot
components
gripper
arena
pick
Prior art date
Application number
SE0203655A
Other languages
Swedish (sv)
Other versions
SE0203655L (en
SE524796C2 (en
Inventor
Ari Kesti
Original Assignee
Svensk Industriautomation 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 Svensk Industriautomation Ab filed Critical Svensk Industriautomation Ab
Priority to SE0203655A priority Critical patent/SE524796C2/en
Publication of SE0203655D0 publication Critical patent/SE0203655D0/en
Priority to AU2003302921A priority patent/AU2003302921A1/en
Priority to PCT/SE2003/001933 priority patent/WO2004052596A1/en
Priority to EP03812746A priority patent/EP1569776A1/en
Publication of SE0203655L publication Critical patent/SE0203655L/en
Publication of SE524796C2 publication Critical patent/SE524796C2/en

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
    • B25J9/1694—Programme 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
    • B25J9/1697—Vision controlled systems
    • 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
    • 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
    • G05B2219/40053—Pick 3-D object from pile of objects
    • 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
    • G05B2219/40478—Graphic display of work area of robot, forbidden, permitted zone

Landscapes

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

Abstract

Method and arrangement for a robot having an associated sensor system for preventing collisions between robot or a gripper arranged on the robot and its surroundings when picking up components, involving the following steps: creation of an image or multi-dimensional representation of a pick-up arena which is supplied with components; identification of the components and their orientation; and definition of one or more following: the gripper, the robot and the area of the pick-up arena, the sensor system monitoring prohibited areas for the robot or the gripper arranged on the robot.
SE0203655A 2002-12-10 2002-12-10 collision Protection SE524796C2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
SE0203655A SE524796C2 (en) 2002-12-10 2002-12-10 collision Protection
AU2003302921A AU2003302921A1 (en) 2002-12-10 2003-12-10 Method and arrangement to avoid collision between a robot and its surroundings while picking details including a sensorsystem
PCT/SE2003/001933 WO2004052596A1 (en) 2002-12-10 2003-12-10 Method and arrangement to avoid collision between a robot and its surroundings while picking details including a sensorsystem
EP03812746A EP1569776A1 (en) 2002-12-10 2003-12-10 Method and arrangement to avoid collision between a robot and its surroundings while picking details including a sensorsystem

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0203655A SE524796C2 (en) 2002-12-10 2002-12-10 collision Protection

Publications (3)

Publication Number Publication Date
SE0203655D0 true SE0203655D0 (en) 2002-12-10
SE0203655L SE0203655L (en) 2004-06-11
SE524796C2 SE524796C2 (en) 2004-10-05

Family

ID=20289818

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0203655A SE524796C2 (en) 2002-12-10 2002-12-10 collision Protection

Country Status (4)

Country Link
EP (1) EP1569776A1 (en)
AU (1) AU2003302921A1 (en)
SE (1) SE524796C2 (en)
WO (1) WO2004052596A1 (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7313464B1 (en) * 2006-09-05 2007-12-25 Adept Technology Inc. Bin-picking system for randomly positioned objects
KR101453234B1 (en) * 2010-11-17 2014-10-22 미쓰비시덴키 가부시키가이샤 Workpiece pick-up apparatus
FI20106387A (en) 2010-12-30 2012-07-01 Zenrobotics Oy Method, computer program and device for determining the site of infection
DE102014019209A1 (en) * 2014-12-19 2016-06-23 Daimler Ag Method for operating a robot
US10414043B2 (en) 2017-01-31 2019-09-17 Fanuc America Corporation Skew and circular boundary for line tracking and circular tracking
EP3581347B1 (en) * 2017-02-08 2023-04-19 Fuji Corporation Work machine
WO2024130063A1 (en) * 2022-12-16 2024-06-20 Berkshire Grey Operating Company, Inc. Systems and methods for automated packaging and processing with static and dynamic payload guards

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4613269A (en) * 1984-02-28 1986-09-23 Object Recognition Systems, Inc. Robotic acquisition of objects by means including histogram techniques
US5041907A (en) * 1990-01-29 1991-08-20 Technistar Corporation Automated assembly and packaging system
GB2261069B (en) * 1991-10-30 1995-11-01 Nippon Denso Co High speed picking system for stacked parts
US5495410A (en) * 1994-08-12 1996-02-27 Minnesota Mining And Manufacturing Company Lead-through robot programming system
JPH11300670A (en) * 1998-04-21 1999-11-02 Fanuc Ltd Article picking-up device
JP3300682B2 (en) * 1999-04-08 2002-07-08 ファナック株式会社 Robot device with image processing function
JP3537362B2 (en) * 1999-10-12 2004-06-14 ファナック株式会社 Graphic display device for robot system

Also Published As

Publication number Publication date
SE0203655L (en) 2004-06-11
EP1569776A1 (en) 2005-09-07
SE524796C2 (en) 2004-10-05
WO2004052596A1 (en) 2004-06-24
AU2003302921A1 (en) 2004-06-30

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Legal Events

Date Code Title Description
NUG Patent has lapsed