SG11201609562XA - Collision detection - Google Patents

Collision detection

Info

Publication number
SG11201609562XA
SG11201609562XA SG11201609562XA SG11201609562XA SG11201609562XA SG 11201609562X A SG11201609562X A SG 11201609562XA SG 11201609562X A SG11201609562X A SG 11201609562XA SG 11201609562X A SG11201609562X A SG 11201609562XA SG 11201609562X A SG11201609562X A SG 11201609562XA
Authority
SG
Singapore
Prior art keywords
collision detection
collision
detection
Prior art date
Application number
SG11201609562XA
Other languages
English (en)
Inventor
Sébastien Dalibard
David Gouaillier
Original Assignee
Softbank Robotics Europ
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 Softbank Robotics Europ filed Critical Softbank Robotics Europ
Publication of SG11201609562XA publication Critical patent/SG11201609562XA/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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming 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
    • B25J9/1694—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
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37622—Detect collision, blocking, stall by change, lag in 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
    • G05B2219/37—Measurements
    • G05B2219/37624—Detect collision, blocking by measuring change of velocity or torque
    • 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
    • G05B2219/39011—Fixed camera detects deviation end effector from reference on workpiece, object

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Emergency Alarm Devices (AREA)
  • User Interface Of Digital Computer (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
SG11201609562XA 2014-06-05 2015-06-05 Collision detection SG11201609562XA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP14305848.5A EP2952300A1 (fr) 2014-06-05 2014-06-05 Détection de collision
PCT/EP2015/062539 WO2015185710A2 (fr) 2014-06-05 2015-06-05 Détection de collision

Publications (1)

Publication Number Publication Date
SG11201609562XA true SG11201609562XA (en) 2016-12-29

Family

ID=51022793

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201609562XA SG11201609562XA (en) 2014-06-05 2015-06-05 Collision detection

Country Status (13)

Country Link
US (1) US10369697B2 (fr)
EP (1) EP2952300A1 (fr)
JP (1) JP6462008B2 (fr)
KR (1) KR101982420B1 (fr)
CN (1) CN106604804B (fr)
AU (2) AU2015270430A1 (fr)
BR (1) BR112016028360A2 (fr)
CA (1) CA2951087C (fr)
MX (1) MX2016015826A (fr)
NZ (1) NZ727012A (fr)
RU (1) RU2016152157A (fr)
SG (1) SG11201609562XA (fr)
WO (1) WO2015185710A2 (fr)

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FR3066131B1 (fr) * 2017-05-15 2019-06-14 Fogale Nanotech Robot dote d'une detection capacitive
JP7000704B2 (ja) * 2017-05-16 2022-01-19 富士フイルムビジネスイノベーション株式会社 移動式サービス提供装置及びプログラム
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JP6761194B2 (ja) * 2019-01-30 2020-09-23 株式会社安川電機 ロボットシステム、ロボット制御方法、ロボットコントローラ及びプログラム
JP2022527059A (ja) * 2019-03-28 2022-05-30 ジェネシス ロボティクス アンド モーション テクノロジーズ リミテッド パートナーシップ 衝突検出
KR102528797B1 (ko) * 2021-08-10 2023-05-03 세메스 주식회사 기판 이송 어셈블리 및 방법
EP4442412A1 (fr) * 2021-11-29 2024-10-09 Kyocera Corporation Dispositif de commande de robot, système de commande de robot et procédé de commande de robot
EP4385676A1 (fr) * 2022-12-12 2024-06-19 Sick Ag Validation de la pose d'un robot et des données d'un capteur se déplaçant avec le robot

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Also Published As

Publication number Publication date
WO2015185710A3 (fr) 2016-03-10
WO2015185710A2 (fr) 2015-12-10
RU2016152157A (ru) 2018-07-10
CA2951087A1 (fr) 2015-12-10
BR112016028360A2 (pt) 2017-08-22
CA2951087C (fr) 2019-06-04
CN106604804B (zh) 2019-12-06
RU2016152157A3 (fr) 2018-07-10
AU2015270430A1 (en) 2016-12-08
JP6462008B2 (ja) 2019-01-30
JP2017516674A (ja) 2017-06-22
US20170173791A1 (en) 2017-06-22
AU2019200969A1 (en) 2019-02-28
CN106604804A (zh) 2017-04-26
EP2952300A1 (fr) 2015-12-09
US10369697B2 (en) 2019-08-06
NZ727012A (en) 2018-04-27
KR20170041678A (ko) 2017-04-17
MX2016015826A (es) 2017-10-04
KR101982420B1 (ko) 2019-05-27

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