SG10201901171SA - Controlling a robot in an environment - Google Patents
Controlling a robot in an environmentInfo
- Publication number
- SG10201901171SA SG10201901171SA SG10201901171SA SG10201901171SA SG10201901171SA SG 10201901171S A SG10201901171S A SG 10201901171SA SG 10201901171S A SG10201901171S A SG 10201901171SA SG 10201901171S A SG10201901171S A SG 10201901171SA SG 10201901171S A SG10201901171S A SG 10201901171SA
- Authority
- SG
- Singapore
- Prior art keywords
- robot
- environment
- controlling
- determining
- point cloud
- Prior art date
Links
Classifications
-
- 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
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—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
- B25J9/1694—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
-
- 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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1625—Truss-manipulator for snake-like motion
-
- 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
- G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
ONTROLLING A ROBOT IN AN ENVIRONMENT There is provided a method of controlling a robot within an environment 5 comprising: i) receiving, from a 3D scanner, data relating to at least a portion of the environment for constructing a 3D point cloud representing at least a portion of the environment; ii) comparing the 3D point cloud to a virtual 3D model of the environment and, based upon the comparison, determining a position of the robot; then iii) determining a movement trajectory for the robot based upon the 10 determined position of the robot. Also provided is a control apparatus and a robot control system. [Figure 2] 15
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1803251.6A GB2571528A (en) | 2018-02-28 | 2018-02-28 | Controlling a robot in an environment |
Publications (1)
Publication Number | Publication Date |
---|---|
SG10201901171SA true SG10201901171SA (en) | 2019-09-27 |
Family
ID=61903302
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SG10201901171SA SG10201901171SA (en) | 2018-02-28 | 2019-02-12 | Controlling a robot in an environment |
Country Status (4)
Country | Link |
---|---|
US (1) | US11364635B2 (en) |
EP (1) | EP3533567A1 (en) |
GB (1) | GB2571528A (en) |
SG (1) | SG10201901171SA (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3108183B1 (en) * | 2020-03-13 | 2022-02-25 | Orano Ds Demantelement Et Services | Method for automatically performing an operation on an object with a tool carried by a polyarticulated system |
US11999058B2 (en) * | 2022-04-04 | 2024-06-04 | General Electric Company | Method and apparatus for robotic arm navigation |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6728582B1 (en) | 2000-12-15 | 2004-04-27 | Cognex Corporation | System and method for determining the position of an object in three dimensions using a machine vision system with two cameras |
GB2417090A (en) | 2003-04-28 | 2006-02-15 | Stephen James Crampton | CMM arm with exoskeleton |
US8111904B2 (en) | 2005-10-07 | 2012-02-07 | Cognex Technology And Investment Corp. | Methods and apparatus for practical 3D vision system |
CA2776320C (en) | 2008-10-07 | 2017-08-29 | The Trustees Of Columbia University In The City Of New York | Systems, devices, and method for providing insertable robotic sensory and manipulation platforms for single port surgery |
KR101612284B1 (en) | 2010-03-08 | 2016-04-15 | 삼성전자주식회사 | Apparatus and method for interference reduction and energey saving in femto/pico cell of hierarchical cell structure |
EP2821872B1 (en) | 2013-07-01 | 2017-02-08 | Getting Robotika S.L. | Robotised cell, installation and method for deburring parts |
US9715761B2 (en) * | 2013-07-08 | 2017-07-25 | Vangogh Imaging, Inc. | Real-time 3D computer vision processing engine for object recognition, reconstruction, and analysis |
WO2015090399A1 (en) * | 2013-12-19 | 2015-06-25 | Aktiebolaget Electrolux | Robotic cleaning device and method for landmark recognition |
WO2015106799A1 (en) | 2014-01-14 | 2015-07-23 | Sandvik Mining And Construction Oy | Mine vehicle, mine control system and mapping method |
CA2976025A1 (en) | 2015-02-06 | 2016-08-11 | Optimedica Corporation | Closed-loop laser eye surgery treatment |
US9849591B2 (en) * | 2015-10-02 | 2017-12-26 | X Development Llc | Localization of a robot in an environment using detected edges of a camera image from a camera of the robot and detected edges derived from a three-dimensional model of the environment |
US10166676B1 (en) * | 2016-06-08 | 2019-01-01 | X Development Llc | Kinesthetic teaching of grasp parameters for grasping of objects by a grasping end effector of a robot |
KR101782317B1 (en) * | 2016-06-10 | 2017-09-27 | (주)엠아이테크 | Robot calibration apparatus using three-dimensional scanner and robot calibration method using the same |
GB2551769B (en) | 2016-06-30 | 2020-02-19 | Rolls Royce Plc | Methods, apparatus, computer programs and non-transitory computer readable storage mediums for controlling a robot within a volume |
GB2552019B (en) * | 2016-07-08 | 2020-01-08 | Rolls Royce Plc | Methods and apparatus for controlling at least one of a first robot and a second robot to collaborate within a system |
TWI672207B (en) * | 2017-11-03 | 2019-09-21 | 財團法人工業技術研究院 | Posture positioning system for machine and the method thereof |
US11127202B2 (en) * | 2017-12-18 | 2021-09-21 | Parthiv Krishna | Search and rescue unmanned aerial system |
-
2018
- 2018-02-28 GB GB1803251.6A patent/GB2571528A/en not_active Withdrawn
-
2019
- 2019-01-29 EP EP19154239.8A patent/EP3533567A1/en not_active Withdrawn
- 2019-02-08 US US16/270,877 patent/US11364635B2/en active Active
- 2019-02-12 SG SG10201901171SA patent/SG10201901171SA/en unknown
Also Published As
Publication number | Publication date |
---|---|
EP3533567A1 (en) | 2019-09-04 |
US11364635B2 (en) | 2022-06-21 |
GB2571528A (en) | 2019-09-04 |
US20190262995A1 (en) | 2019-08-29 |
GB201803251D0 (en) | 2018-04-11 |
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