SG11201803457QA - Robot with control system for discrete manual input of positions and/or poses - Google Patents
Robot with control system for discrete manual input of positions and/or posesInfo
- Publication number
- SG11201803457QA SG11201803457QA SG11201803457QA SG11201803457QA SG11201803457QA SG 11201803457Q A SG11201803457Q A SG 11201803457QA SG 11201803457Q A SG11201803457Q A SG 11201803457QA SG 11201803457Q A SG11201803457Q A SG 11201803457QA SG 11201803457Q A SG11201803457Q A SG 11201803457QA
- Authority
- SG
- Singapore
- Prior art keywords
- poses
- robot
- positions
- control system
- manual input
- Prior art date
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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- 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
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- 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
-
- 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
-
- 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
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36427—Jog feed to a command position, if close enough robot takes over positioning
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36433—Position assisted teaching
-
- 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
- G05B2219/40471—Using gradient method
-
- 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
- G05B2219/40472—Using exact cell decomposition
-
- 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
- G05B2219/40474—Using potential fields
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015118918.6A DE102015118918B3 (en) | 2015-11-04 | 2015-11-04 | Robot with control for discretized manual entry of positions and / or poses |
PCT/EP2016/075674 WO2017076697A1 (en) | 2015-11-04 | 2016-10-25 | Robot with control system for discrete manual input of positions and/or poses |
Publications (1)
Publication Number | Publication Date |
---|---|
SG11201803457QA true SG11201803457QA (en) | 2018-05-30 |
Family
ID=57208278
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SG11201803457QA SG11201803457QA (en) | 2015-11-04 | 2016-10-25 | Robot with control system for discrete manual input of positions and/or poses |
Country Status (9)
Country | Link |
---|---|
US (1) | US10994415B2 (en) |
EP (1) | EP3370925B1 (en) |
JP (1) | JP2018532608A (en) |
KR (1) | KR102078733B1 (en) |
CN (1) | CN108290287B (en) |
DE (1) | DE102015118918B3 (en) |
DK (1) | DK3370925T3 (en) |
SG (1) | SG11201803457QA (en) |
WO (1) | WO2017076697A1 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110154022B (en) * | 2019-05-20 | 2020-10-30 | 南京航浦机械科技有限公司 | Directional stiffness model-based robot hole-making radial positioning correction method |
DE102019220619B3 (en) * | 2019-12-30 | 2021-01-28 | Kuka Deutschland Gmbh | Moving a robot-fixed reference |
DE102021125628B3 (en) | 2021-10-04 | 2022-10-13 | Physik Instrumente (PI) GmbH & Co KG | Speed specifications for determining the trajectory of kinematics |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3606685A1 (en) | 1986-02-28 | 1987-09-03 | Forsch Steuerungstechnik Der W | DEVICE FOR HANDLING AN INDUSTRIAL ROBOT |
JPH01175608A (en) | 1987-12-29 | 1989-07-12 | Honda Motor Co Ltd | Method for generating teaching data of robot |
IT1239878B (en) | 1990-02-02 | 1993-11-15 | Fiat Auto Spa | SYSTEM FOR DETECTION OF MOTION PARAMETERS OF INDUSTRIAL AND SIMILAR ROBOTS. |
DE4408982C1 (en) | 1994-03-16 | 1995-05-18 | Deutsche Forsch Luft Raumfahrt | Autonomous navigation system for mobile robot or manipulator |
DE69601567T2 (en) | 1995-07-05 | 1999-06-24 | Fanuc Ltd | DEVICE AND METHOD FOR CONTROLLING THE MOVEMENT OF A ROBOT |
CN1055157C (en) | 1997-07-18 | 2000-08-02 | 中国科学院沈阳自动化研究所 | System for repeated detecting position precision of robot |
JPH11254361A (en) | 1998-03-13 | 1999-09-21 | Sumitomo Heavy Ind Ltd | Direct teaching mode switching system for robot |
JP2002073130A (en) | 2000-06-13 | 2002-03-12 | Yaskawa Electric Corp | Planning method for gross motion path of robot and its controller |
CN100338433C (en) | 2005-03-10 | 2007-09-19 | 新奥博为技术有限公司 | Method for deciding relative position of laser scanner and robot |
WO2009092164A1 (en) * | 2008-01-25 | 2009-07-30 | Mcmaster University | Surgical guidance utilizing tissue feedback |
JP4962424B2 (en) | 2008-06-16 | 2012-06-27 | 株式会社デンソーウェーブ | Robot direct teach controller |
EP2350750B1 (en) | 2008-11-25 | 2012-10-31 | ABB Technology Ltd | A method and an apparatus for calibration of an industrial robot system |
CN102601684B (en) * | 2012-04-06 | 2013-11-20 | 南京航空航天大学 | Indirect measurement method based tool parameter calibration method for high-precision drilling robot |
DE102012012988A1 (en) * | 2012-06-29 | 2014-04-17 | Liebherr-Verzahntechnik Gmbh | Device for the automated handling of workpieces |
CN102785246B (en) * | 2012-08-24 | 2015-01-21 | 电子科技大学 | Robot calibration method capable of achieving automatic trajectory correction |
DE102013218823A1 (en) | 2013-09-19 | 2015-04-02 | Kuka Laboratories Gmbh | Method for manually adjusting the pose of a manipulator arm of an industrial robot and associated industrial robots |
DE102014001168B4 (en) * | 2014-01-31 | 2019-03-14 | Abb Schweiz Ag | robot control |
US20150331415A1 (en) * | 2014-05-16 | 2015-11-19 | Microsoft Corporation | Robotic task demonstration interface |
US9272417B2 (en) * | 2014-07-16 | 2016-03-01 | Google Inc. | Real-time determination of object metrics for trajectory planning |
CN104457566A (en) | 2014-11-10 | 2015-03-25 | 西北工业大学 | Spatial positioning method not needing teaching robot system |
US9815198B2 (en) * | 2015-07-23 | 2017-11-14 | X Development Llc | System and method for determining a work offset |
-
2015
- 2015-11-04 DE DE102015118918.6A patent/DE102015118918B3/en not_active Expired - Fee Related
-
2016
- 2016-10-25 WO PCT/EP2016/075674 patent/WO2017076697A1/en active Application Filing
- 2016-10-25 US US15/773,630 patent/US10994415B2/en active Active
- 2016-10-25 JP JP2018541503A patent/JP2018532608A/en active Pending
- 2016-10-25 SG SG11201803457QA patent/SG11201803457QA/en unknown
- 2016-10-25 EP EP16787813.1A patent/EP3370925B1/en active Active
- 2016-10-25 DK DK16787813.1T patent/DK3370925T3/en active
- 2016-10-25 CN CN201680062483.5A patent/CN108290287B/en active Active
- 2016-10-25 KR KR1020187015630A patent/KR102078733B1/en active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
DE102015118918B3 (en) | 2017-05-04 |
EP3370925B1 (en) | 2020-08-12 |
US10994415B2 (en) | 2021-05-04 |
JP2018532608A (en) | 2018-11-08 |
EP3370925A1 (en) | 2018-09-12 |
WO2017076697A1 (en) | 2017-05-11 |
US20190061148A1 (en) | 2019-02-28 |
KR20180097532A (en) | 2018-08-31 |
CN108290287A (en) | 2018-07-17 |
DK3370925T3 (en) | 2020-11-02 |
CN108290287B (en) | 2021-06-15 |
KR102078733B1 (en) | 2020-02-19 |
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