SG11201808697VA - System and method for controlling a robot - Google Patents

System and method for controlling a robot

Info

Publication number
SG11201808697VA
SG11201808697VA SG11201808697VA SG11201808697VA SG11201808697VA SG 11201808697V A SG11201808697V A SG 11201808697VA SG 11201808697V A SG11201808697V A SG 11201808697VA SG 11201808697V A SG11201808697V A SG 11201808697VA SG 11201808697V A SG11201808697V A SG 11201808697VA
Authority
SG
Singapore
Prior art keywords
processor
robot
unit
zus
controlling
Prior art date
Application number
SG11201808697VA
Inventor
Björn Pietsch
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
Application filed by Franka Emika Gmbh filed Critical Franka Emika Gmbh
Publication of SG11201808697VA publication Critical patent/SG11201808697VA/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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B25J19/06—Safety devices
    • 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
    • B25J19/06—Safety devices
    • B25J19/061—Safety devices with audible signals
    • 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
    • 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
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34482—Redundancy, processors watch each other for correctness
    • 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
    • G05B2219/39083—Robot interference, between two robot arms
    • 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
    • G05B2219/40202—Human robot coexistence

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Multimedia (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Safety Devices In Control Systems (AREA)

Abstract

- SYSTEM AND METHOD FOR CONTROLLING A ROBOT The invention relates to a system for controlling a robot (102), comprising: an interface (101) 5 that provides data DAT(t) captured by one or more sensors (100), wherein the data DAT(t) indicate a current state ZUS(t) of th e robot (102), a first processor (103) that is connected to the interface (101) and that is set up to use a first algorithm to check, on the basis of the data DAT(t) and a prescribed state space Z , which indicates exclusively permitted states of the robot (102), whether it holds that: ZUS(t) ϵ Z , wherein in the event of: ZUS(t) Z a first stop 10 signal Sig1 is generated, a unit (105), connected to the first processor (103) via a data link (104), for generating a second stop signal Sig2, which generates the second stop signal Sig2 when the unit (105) receives the first stop signal Sig1 or when the unit (105) establishes that the data link (104) is interrupted, a second processor (106), connected to th e interface (101) and the first processor (103) or only to the first processor (103), that is set up to use a second 15 algorithm to check, on the basis of the data DAT(t) and a prescribed state space Z‘ or a boundary for the state space Z‘ , whether it holds that: ZUS(t) ϵ Z‘ , wherein in the event of ZUS(t) Z‘ the second processor (106) prompts an interruption unit (114) to interrupt the data link (104) between the first processor (103) and the unit (105), and a control unit (107), connected the (105 ), controlling robot which unit 20 controls/regulates the robot (102) into a prescribed safe state when the second stop signal Sig2 is present. Fig. 1  
SG11201808697VA 2016-04-24 2017-04-21 System and method for controlling a robot SG11201808697VA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016005026.8A DE102016005026B3 (en) 2016-04-24 2016-04-24 System and method for controlling a robot
PCT/EP2017/059562 WO2017186599A1 (en) 2016-04-24 2017-04-21 System and method for controlling a robot

Publications (1)

Publication Number Publication Date
SG11201808697VA true SG11201808697VA (en) 2018-11-29

Family

ID=58640583

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201808697VA SG11201808697VA (en) 2016-04-24 2017-04-21 System and method for controlling a robot

Country Status (9)

Country Link
US (1) US11059175B2 (en)
EP (1) EP3448632B1 (en)
JP (1) JP6743178B2 (en)
KR (1) KR102150887B1 (en)
CN (1) CN109070348B (en)
DE (1) DE102016005026B3 (en)
DK (1) DK3448632T3 (en)
SG (1) SG11201808697VA (en)
WO (1) WO2017186599A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230278201A1 (en) * 2022-03-04 2023-09-07 Sanctuary Cognitive Systems Corporation Robots, tele-operation systems, computer program products, and methods of operating the same

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JPH05146987A (en) 1991-11-27 1993-06-15 Mitsubishi Electric Corp Stopping device for industrial robot
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JP2007283448A (en) 2006-04-18 2007-11-01 Nachi Fujikoshi Corp Robot control device
DE602006003435D1 (en) * 2006-09-14 2008-12-11 Abb Research Ltd Method and device for avoiding collisions between an industrial robot and an object
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Also Published As

Publication number Publication date
WO2017186599A1 (en) 2017-11-02
EP3448632B1 (en) 2021-09-01
US20190091863A1 (en) 2019-03-28
JP6743178B2 (en) 2020-08-19
CN109070348B (en) 2022-04-26
JP2019514709A (en) 2019-06-06
DE102016005026B3 (en) 2017-05-18
KR102150887B1 (en) 2020-09-02
CN109070348A (en) 2018-12-21
US11059175B2 (en) 2021-07-13
KR20190006979A (en) 2019-01-21
DK3448632T3 (en) 2021-11-22
EP3448632A1 (en) 2019-03-06

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