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
Other languages
English (en)
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)
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 (de) 2015-12-30 2015-12-30 Roboter und Verfahren zum Betreiben eines Roboters
PCT/EP2016/082690 WO2017114818A1 (de) 2015-12-30 2016-12-27 Roboter und verfahren zum betreiben eines roboters

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 (zh)
EP (1) EP3397431B1 (zh)
JP (1) JP2019500226A (zh)
KR (1) KR102113544B1 (zh)
CN (1) CN108472809B (zh)
DE (1) DE102015122998B3 (zh)
SG (1) SG11201805349YA (zh)
WO (1) WO2017114818A1 (zh)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017106791A1 (de) * 2017-03-29 2018-10-04 Kuka Deutschland Gmbh Überwachungsverfahren und Überwachungssystem
WO2019162109A1 (en) * 2018-02-23 2019-08-29 Abb Schweiz Ag Robot system and operation method
DE102018203234A1 (de) * 2018-03-05 2019-09-05 Kuka Deutschland Gmbh Vorausschauende Beurteilung von Robotern
DE102019003695A1 (de) * 2019-05-24 2020-11-26 abaut GmbH System zur Ermittlung der Aktivitäten wenigstens einer Maschine
DE102019129338B3 (de) * 2019-10-30 2021-02-18 Pilz Gmbh & Co. Kg Modellprädiktive Interaktionsregelung

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 (de) * 2004-05-28 2005-12-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters
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 (ja) * 2008-06-12 2013-01-16 富士電機株式会社 ロボット暴走判定方法およびロボット制御装置
DE112010000775B4 (de) * 2009-02-12 2016-03-17 Kyoto University Industrierobotersystem
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
JP6106594B2 (ja) * 2010-11-11 2017-04-05 ザ・ジョンズ・ホプキンス・ユニバーシティ ヒューマン・マシン連携ロボットシステム
KR101901586B1 (ko) * 2011-12-23 2018-10-01 삼성전자주식회사 로봇 위치 추정 장치 및 그 방법
DE102013013875A1 (de) * 2013-08-20 2015-02-26 Kuka Laboratories Gmbh Verfahren zum Steuern eines Roboters
CN205854859U (zh) * 2016-08-03 2017-01-04 江西万里药业有限公司 一种医疗制药用中间体储罐减震及固定装置

Also Published As

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

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