SG10201901171SA - Controlling a robot in an environment - Google Patents

Controlling a robot in an environment

Info

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
Application number
SG10201901171SA
Inventor
James Kell
Bilal M Nasser
Amir Rabani
Original Assignee
Rolls Royce Plc
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 Rolls Royce Plc filed Critical Rolls Royce Plc
Publication of SG10201901171SA publication Critical patent/SG10201901171SA/en

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
SG10201901171SA 2018-02-28 2019-02-12 Controlling a robot in an environment SG10201901171SA (en)

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 (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230311303A1 (en) * 2022-04-04 2023-10-05 General Electric Company Method and apparatus for robotic arm navigation

Family Cites Families (17)

* Cited by examiner, † Cited by third party
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
CA2522097C (en) 2003-04-28 2012-09-25 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
WO2010042611A1 (en) 2008-10-07 2010-04-15 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
WO2015006224A1 (en) * 2013-07-08 2015-01-15 Vangogh Imaging, Inc. Real-time 3d computer vision processing engine for object recognition, reconstruction, and analysis
JP6687286B2 (en) * 2013-12-19 2020-04-22 アクチエボラゲット エレクトロルックス Robot cleaner and landmark recognition method
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

Also Published As

Publication number Publication date
US11364635B2 (en) 2022-06-21
US20190262995A1 (en) 2019-08-29
GB201803251D0 (en) 2018-04-11
GB2571528A (en) 2019-09-04
EP3533567A1 (en) 2019-09-04

Similar Documents

Publication Publication Date Title
MX2020010112A (en) Systems and methods for registration of location sensors.
CN105242533B (en) A kind of change admittance remote operating control method for merging multi information
WO2018159177A8 (en) Vehicle automated parking system and method
WO2018160267A3 (en) Cloud based robotic control systems and methods
AU2020359626B2 (en) Systems and methods for guiding movement of a tool
WO2019036456A3 (en) Systems and methods for monitoring patient motion during a medical procedure
CN109189060B (en) Point stabilization control method and device for mobile robot
JP2011161624A (en) Trajectory planning method, trajectory planning system and robot
EP3002646A3 (en) Virtual design engineering
EP2711792A3 (en) Simulation apparatus, simulation method, and simulation program
US10384344B2 (en) Processing device, parameter adjusting method, and storage medium
CN114347033B (en) Robot character grabbing method and device, robot and storage medium
EP3691840A1 (en) Teleoperation systems, method, apparatus, and computer-readable medium
EP3029539A3 (en) Temperature control system and temperature control method
EP3620273A3 (en) Methods and apparatus for robot control
US20150165623A1 (en) Method For Programming An Industrial Robot In A Virtual Environment
CN108170166A (en) The follow-up control method and its intelligent apparatus of robot
EP3933785A3 (en) Method and apparatus for processing trajectory, roadside device and cloud control platform
EP2393027A3 (en) Curve matching for parameter identification
CN106575125A (en) Flying drone trajectory synchronization
GB201206333D0 (en) Process for guiding the flight of an aircraft to a predetermined target object, and flight-guidance system
CN108153298B (en) Foot type robot traction control method and system based on improved artificial potential field
SG10201901171SA (en) Controlling a robot in an environment
SG11201805349YA (en) Robot and method for operating a robot
CN108942930A (en) The closed-loop control system and method for robot arm device