SG11201708560UA - Controlling and/or regulating motors of a robot - Google Patents

Controlling and/or regulating motors of a robot

Info

Publication number
SG11201708560UA
SG11201708560UA SG11201708560UA SG11201708560UA SG11201708560UA SG 11201708560U A SG11201708560U A SG 11201708560UA SG 11201708560U A SG11201708560U A SG 11201708560UA SG 11201708560U A SG11201708560U A SG 11201708560UA SG 11201708560U A SG11201708560U A SG 11201708560UA
Authority
SG
Singapore
Prior art keywords
robot
controlling
regulating motors
motors
regulating
Prior art date
Application number
SG11201708560UA
Inventor
Sami Haddadin
Nico Mansfeld
Original Assignee
Deutsches Zentrum Für Luft- Und Raumfahrt E V
Kastanienbaum GmbH
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=55855177&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=SG11201708560U(A) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Deutsches Zentrum Für Luft- Und Raumfahrt E V, Kastanienbaum GmbH filed Critical Deutsches Zentrum Für Luft- Und Raumfahrt E V
Publication of SG11201708560UA publication Critical patent/SG11201708560UA/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
    • B25J9/1656—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
    • B25J9/1656—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
    • B25J9/1674—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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4061—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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39091—Avoid collision with moving obstacles
    • 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
    • G05B2219/39097—Estimate own stop, brake time, then verify if in safe distance
    • 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
    • G05B2219/40492—Model manipulator by spheres for collision avoidance
    • 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
    • G05B2219/40512—Real time path planning, trajectory generation
    • 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
    • G05B2219/40515—Integration of simulation and planning
    • 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
    • G05B2219/40516—Replanning

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)
SG11201708560UA 2015-04-22 2016-04-22 Controlling and/or regulating motors of a robot SG11201708560UA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015106227.5A DE102015106227B3 (en) 2015-04-22 2015-04-22 Controlling and / or regulating motors of a robot
PCT/EP2016/059062 WO2016170144A1 (en) 2015-04-22 2016-04-22 Controlling and/or regulating motors of a robot

Publications (1)

Publication Number Publication Date
SG11201708560UA true SG11201708560UA (en) 2017-11-29

Family

ID=55855177

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201708560UA SG11201708560UA (en) 2015-04-22 2016-04-22 Controlling and/or regulating motors of a robot

Country Status (8)

Country Link
US (1) US10678210B2 (en)
EP (1) EP3285975B1 (en)
JP (1) JP6630813B2 (en)
KR (1) KR102003216B1 (en)
CN (1) CN107548336B (en)
DE (1) DE102015106227B3 (en)
SG (1) SG11201708560UA (en)
WO (1) WO2016170144A1 (en)

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DE102017111886B3 (en) 2017-05-31 2018-05-03 Sick Ag Determine the movement of a machine to be protected
DE102017111885B4 (en) 2017-05-31 2019-06-27 Sick Ag Method and system for monitoring a machine
DE202017104603U1 (en) 2017-08-01 2018-11-06 Sick Ag System for securing a machine
DE102017010599A1 (en) * 2017-11-15 2019-05-16 Kuka Deutschland Gmbh Method and system for simulating a braking operation of a robot
EP3498433A1 (en) 2017-12-14 2019-06-19 Universal Robots A/S Dynamical safety trajectories in a robotic system
EP3807732A1 (en) 2018-06-15 2021-04-21 Universal Robots A/S Dual mode free-drive of robot arm
EP3807058A1 (en) * 2018-06-15 2021-04-21 Universal Robots A/S Estimation of payload attached to a robot arm
JP7262847B2 (en) 2018-08-30 2023-04-24 ヴェオ ロボティクス， インコーポレイテッド System Identification of Industrial Robot Dynamics for Safety-Critical Applications
US20200160210A1 (en) * 2018-11-20 2020-05-21 Siemens Industry Software Ltd. Method and system for predicting a motion trajectory of a robot moving between a given pair of robotic locations
DE102019108390B3 (en) 2019-04-01 2020-08-06 Franka Emika Gmbh Specifying safe speeds for a robot manipulator
DE102019128082B4 (en) * 2019-10-17 2022-03-10 Franka Emika Gmbh Torque-limited braking of a robotic manipulator
DE102020120116B4 (en) 2019-10-17 2023-06-22 Deutsches Zentrum für Luft- und Raumfahrt e.V. Method for impedance-based multi-tasking tracking control, impedance-based multi-tasking tracking controller and force and/or torque controlled robot
CN111775153B (en) * 2020-07-17 2022-08-26 中国科学院宁波材料技术与工程研究所 Heavy-load robot calibration method
DE102020209866B3 (en) 2020-08-05 2021-12-02 Kuka Deutschland Gmbh Method and system for operating a robot

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US6216058B1 (en) * 1999-05-28 2001-04-10 Brooks Automation, Inc. System of trajectory planning for robotic manipulators based on pre-defined time-optimum trajectory shapes
JP4008207B2 (en) * 2001-05-02 2007-11-14 松下電器産業株式会社 Robot control method and control apparatus
US8924021B2 (en) * 2006-04-27 2014-12-30 Honda Motor Co., Ltd. Control of robots from human motion descriptors
EP1857901B1 (en) * 2006-05-19 2009-07-22 Abb As Improved method for controlling a robot TCP
WO2009055707A1 (en) * 2007-10-26 2009-04-30 Honda Motor Co., Ltd. Real-time self collision and obstacle avoidance
US8364314B2 (en) * 2009-04-30 2013-01-29 GM Global Technology Operations LLC Method and apparatus for automatic control of a humanoid robot
CN101623865A (en) * 2009-07-08 2010-01-13 北京工业大学 One-wheel robot system and control method thereof
KR20110047847A (en) * 2009-10-30 2011-05-09 삼성전자주식회사 Humanoid robot and control method the same
JP5516865B2 (en) * 2010-02-22 2014-06-11 シンフォニアテクノロジー株式会社 Trajectory information generation device for mobile device
CN102554938B (en) * 2010-12-31 2014-12-03 北京中科广视科技有限公司 Tracking method for mechanical arm tail end trajectory of robot
JP5409844B2 (en) * 2012-05-30 2014-02-05 株式会社神戸製鋼所 Trajectory control apparatus and control method for articulated robot
US8700307B1 (en) * 2013-03-04 2014-04-15 Mitsubishi Electric Research Laboratories, Inc. Method for determining trajectories manipulators to avoid obstacles
US9031691B2 (en) * 2013-03-04 2015-05-12 Disney Enterprises, Inc. Systemic derivation of simplified dynamics for humanoid robots
US9221175B2 (en) * 2013-03-28 2015-12-29 Denso Wave Incorporated Method of generating path of multiaxial robot and control apparatus for the multiaxial robot
US9242376B2 (en) * 2013-03-28 2016-01-26 Denso Wave Incorporated Method of generating path of multiaxial robot and control apparatus for the multiaxial robot
CN103407513B (en) * 2013-05-13 2015-08-19 清华大学 Adopt the level land walking method for dynamic biped robot of spring coupling
DE102013010290A1 (en) * 2013-06-19 2014-12-24 Kuka Laboratories Gmbh Monitoring a kinematic redundant robot
CN103909522B (en) * 2014-03-19 2016-08-17 华南理工大学 A kind of Six-DOF industrial robot is by the method in unusual territory

Also Published As

Publication number Publication date
KR102003216B1 (en) 2019-10-17
WO2016170144A1 (en) 2016-10-27
JP6630813B2 (en) 2020-01-15
CN107548336B (en) 2021-01-15
CN107548336A (en) 2018-01-05
JP2018514409A (en) 2018-06-07
EP3285975A1 (en) 2018-02-28
DE102015106227B3 (en) 2016-05-19
EP3285975B1 (en) 2023-02-15
US10678210B2 (en) 2020-06-09
US20180081340A1 (en) 2018-03-22
KR20180099455A (en) 2018-09-05

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