SG11201805349YA - Robot and method for operating a robot - Google Patents

Robot and method for operating a robot

Info

Publication number
SG11201805349YA
SG11201805349YA SG11201805349YA SG11201805349YA SG11201805349YA SG 11201805349Y A SG11201805349Y A SG 11201805349YA SG 11201805349Y A SG11201805349Y A SG 11201805349YA SG 11201805349Y A SG11201805349Y A SG 11201805349YA SG 11201805349Y A SG11201805349Y A SG 11201805349YA
Authority
SG
Singapore
Prior art keywords
movement
robot
signals
deviation
determining
Prior art date
Application number
SG11201805349YA
Inventor
Sami Haddadin
Original Assignee
Franka Emika 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=57582694&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=SG11201805349Y(A) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Franka Emika Gmbh filed Critical Franka Emika Gmbh
Publication of SG11201805349YA publication Critical patent/SG11201805349YA/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
    • 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
    • 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
    • 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
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37626—By measuring changing forces in different position 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
    • G05B2219/39082—Collision, real time 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39315—Art ann classifier and input selector, bam ann to retrieve collision free 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40201—Detect contact, collision with human
    • 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
    • G05B2219/40317—For collision avoidance and detection
    • 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
    • G05B2219/40497—Collision monitor controls planner in real time to replan if collision
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49162—On collision, obstruction reverse drive, accelerate, cancel inertia

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)
  • Feedback Control In General (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

ROBOTAND METHOD FOR OPERATING A ROBOT The invention relates to a method for operating a robot and to a robot, wherein the robot comprises movable elements ELEm which can be driven by actuators AKT., and is designed to carry out a movement B with the elements ELE., and wherein the robot comprises a detection system for determining signals W G r (t) of a group of measurement variables G k characterizing the movement B of the elements ELEm and the interactions thereof with an environment. The proposed method comprises the following steps: 10 determining (10), by means of the detection system, reference signals W EB (t) of the k measurement variables Gk during at least one execution of the movement B of the elements ELE m which is in the form of a reference movement B; automatically determining (102), based on the reference signals (t), Wy k using an adaptive method, a mathematical model G k M Gk B for describing the reference movement B including the reference interactions by the 15 measurement variables G i ll, during a normal execution of the movement B by the model MGkB • predicting (103) signals W yk (t) for describing the reference movement B, including ' G k the reference interactions by the measurement variables Gg; comparing (104) the signals W Gk B (t) determined currently during the normal execution of the movement B with the predicted signals Wy k (t) for determining a deviation A G r(t) between W: kt (t) and in 20 W, 43; insofar as the deviation v ArB Ly (t) does not meet a predefined condition BED, k 3 g based Gk Lrk on the deviation A (0 classifying (105) the current deviation A(t) in one of a number . k . k I of predefined error categories F o s (A G f (t)), wherein predefined control information SF i Gk (0 for the actuators AKTk is produced for each of the error categories F. Gk B ( G k B (0) , ' and controlling (106) the actuators AKTk taking into account the control information 25 S (0 . F i,G k 30 -16-
SG11201805349YA 2015-12-30 2016-12-27 Robot and method for operating a robot SG11201805349YA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015122998.6A DE102015122998B3 (en) 2015-12-30 2015-12-30 Robot and method for operating a robot
PCT/EP2016/082690 WO2017114818A1 (en) 2015-12-30 2016-12-27 Robot and method for operating a robot

Publications (1)

Publication Number Publication Date
SG11201805349YA true SG11201805349YA (en) 2018-07-30

Family

ID=57582694

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201805349YA SG11201805349YA (en) 2015-12-30 2016-12-27 Robot and method for operating a robot

Country Status (8)

Country Link
US (1) US20210197375A1 (en)
EP (1) EP3397431B1 (en)
JP (1) JP2019500226A (en)
KR (1) KR102113544B1 (en)
CN (1) CN108472809B (en)
DE (1) DE102015122998B3 (en)
SG (1) SG11201805349YA (en)
WO (1) WO2017114818A1 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017106791A1 (en) * 2017-03-29 2018-10-04 Kuka Deutschland Gmbh Monitoring procedure and monitoring system
EP3755504A1 (en) * 2018-02-23 2020-12-30 ABB Schweiz AG Robot system and operation method
DE102018203234A1 (en) * 2018-03-05 2019-09-05 Kuka Deutschland Gmbh Predictive assessment of robots
DE102019003695A1 (en) * 2019-05-24 2020-11-26 abaut GmbH System for determining the activities of at least one machine
DE102019129338B3 (en) * 2019-10-30 2021-02-18 Pilz Gmbh & Co. Kg Model predictive interaction control

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2106279A (en) * 1981-09-19 1983-04-07 Prutec Ltd Automated machine safety
US5566092A (en) * 1993-12-30 1996-10-15 Caterpillar Inc. Machine fault diagnostics system and method
DE102004026185A1 (en) * 2004-05-28 2005-12-22 Kuka Roboter Gmbh Method and apparatus for operating a machine, such as a multi-axis industrial robot
US20070142966A1 (en) * 2005-12-20 2007-06-21 Khalid Mirza Process for moving a robot
EP1955830B1 (en) * 2007-02-06 2014-04-09 Abb Research Ltd. A method and a control system for monitoring the condition of an industrial robot
JP5120082B2 (en) * 2008-06-12 2013-01-16 富士電機株式会社 Robot runaway determination method and robot control device
JP5436460B2 (en) * 2009-02-12 2014-03-05 三菱電機株式会社 Industrial robot system
US8369992B2 (en) * 2009-09-22 2013-02-05 GM Global Technology Operations LLC Embedded diagnostic, prognostic, and health management system and method for a humanoid robot
KR101891138B1 (en) * 2010-11-11 2018-08-23 더 존스 홉킨스 유니버시티 Human-machine collaborative robotic systems
KR101901586B1 (en) * 2011-12-23 2018-10-01 삼성전자주식회사 Apparatus for estimating the robot pose and method thereof
DE102013013875A1 (en) * 2013-08-20 2015-02-26 Kuka Laboratories Gmbh Method for controlling a robot
CN205854859U (en) * 2016-08-03 2017-01-04 江西万里药业有限公司 A kind of medical treatment and pharmacy intermediate storage tank damping and fixing device

Also Published As

Publication number Publication date
KR20180099790A (en) 2018-09-05
EP3397431B1 (en) 2024-04-17
EP3397431C0 (en) 2024-04-17
DE102015122998B3 (en) 2017-01-05
JP2019500226A (en) 2019-01-10
CN108472809B (en) 2022-02-25
WO2017114818A1 (en) 2017-07-06
US20210197375A1 (en) 2021-07-01
EP3397431A1 (en) 2018-11-07
CN108472809A (en) 2018-08-31
KR102113544B1 (en) 2020-06-02

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