SG11201907005XA - Robot - Google Patents

Robot

Info

Publication number
SG11201907005XA
SG11201907005XA SG11201907005XA SG11201907005XA SG11201907005XA SG 11201907005X A SG11201907005X A SG 11201907005XA SG 11201907005X A SG11201907005X A SG 11201907005XA SG 11201907005X A SG11201907005X A SG 11201907005XA SG 11201907005X A SG11201907005X A SG 11201907005XA
Authority
SG
Singapore
Prior art keywords
manipulator
space
actuators
projection
external
Prior art date
Application number
SG11201907005XA
Inventor
Saskia Golz
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=61188816&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=SG11201907005X(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 SG11201907005XA publication Critical patent/SG11201907005XA/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
    • B25J9/1628—Programme controls characterised by the control loop
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • B25J19/02—Sensing devices
    • 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
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • 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
    • 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
    • G05B2219/39319—Force control, force as reference, active compliance
    • 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
    • G05B2219/39346—Workspace impedance control

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

ROBOT The invention relates to a robot having: a moving manipulator (102) driven by means of actuators (101a-c), a first unit (103) for determining external forces and/or external 5 torques acting upon the manipulator (102), and a second unit (104) for controlling and regulating the actuators (101a-c) as a function of the determined external forces and/or external torques acting upon the manipulator (102), wherein the second unit (104) is designed to control/to regulate the actuators for a predefined sub-space T1 of a working space AR of the manipulator (102) such that the manipulator (102) recedes flexibly into 10 the sub-space T1 upon the application of a determined external force and/or of a determined external torque onto the manipulator (102) along a projection ⃗ 1 of the force and/or of the torque, wherein the following applies: 1 ⊆ , and the working space AR specifies all permitted translations and/or rotations of the manipulator (102), and to determine, for a space TK1 complementary to the sub-space T1, a projection ⃗ 1 of the 15 determined external force and/or of the determined external torque into the complementary space TK1, wherein the following applies: 1 ∩ 1 = { 0 } , 1 ⊆ , and 1 ⊆ , to classify the projection ⃗ 1 into one of several predefined classes with respect to amount and/or direction and/or time curve, wherein at least one event-discrete and/or continuous setpoint control command and/or one setpoint control rule is stored for 20 each predefined class, and to control/to regulate the actuators (101a-c) as a function of the classification of the projection ⃗ 1 based on the respective setpoint control command and/or setpoint control rule. (Fig. 1 accompanies abstract)
SG11201907005XA 2017-02-09 2018-02-07 Robot SG11201907005XA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017102621.5A DE102017102621B3 (en) 2017-02-09 2017-02-09 robot
PCT/EP2018/053096 WO2018146158A2 (en) 2017-02-09 2018-02-07 Robot

Publications (1)

Publication Number Publication Date
SG11201907005XA true SG11201907005XA (en) 2019-08-27

Family

ID=61188816

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201907005XA SG11201907005XA (en) 2017-02-09 2018-02-07 Robot

Country Status (8)

Country Link
US (1) US11325251B2 (en)
EP (1) EP3580021A2 (en)
JP (1) JP2020506813A (en)
KR (1) KR102279382B1 (en)
CN (1) CN110382175B (en)
DE (1) DE102017102621B3 (en)
SG (1) SG11201907005XA (en)
WO (1) WO2018146158A2 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017102621B3 (en) 2017-02-09 2018-05-09 Franka Emika Gmbh robot
WO2019190487A1 (en) * 2018-03-27 2019-10-03 Productive Robotics, Inc. Collaborative robot system incorporating enhanced human interface
CN110039547B (en) * 2019-05-27 2021-08-10 清华大学深圳研究生院 Man-machine interaction terminal and method for remote operation of flexible mechanical arm
DE102019121628B3 (en) * 2019-08-12 2020-08-20 Franka Emika Gmbh Method for operating a robot manipulator with an increased mass of a load

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05305591A (en) * 1992-05-01 1993-11-19 Kobe Steel Ltd Assembling robot
JP2001038664A (en) 1999-08-04 2001-02-13 Yaskawa Electric Corp Robot arm impedance control device
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
JP3188953B2 (en) * 1999-10-13 2001-07-16 経済産業省産業技術総合研究所長 Power assist device and control method thereof
DE60226410D1 (en) * 2001-01-29 2008-06-19 Acrobot Co Ltd ROBOT WITH ACTIVE RESTRICTIONS
JP4844453B2 (en) 2007-04-09 2011-12-28 株式会社デンソーウェーブ Robot teaching apparatus and teaching method
JP4634541B2 (en) * 2008-06-06 2011-02-16 パナソニック株式会社 Robot, robot control device, control method, and control program
DE102008062622B9 (en) 2008-12-17 2016-08-25 Kuka Roboter Gmbh Method and device for entering commands into a controller of a manipulator
ES2424244T3 (en) * 2009-04-22 2013-09-30 Kuka Roboter Gmbh Procedure and device to regulate a manipulator
JP5768828B2 (en) * 2013-03-15 2015-08-26 株式会社安川電機 Robot system and control method of robot system
EP2969406B1 (en) * 2013-03-15 2022-09-21 Intuitive Surgical Operations, Inc. Systems for tracking a path using the null-space
DE102014202145A1 (en) * 2014-02-06 2015-08-06 Kuka Roboter Gmbh A method of programming an industrial robot and associated industrial robots
JP6055002B2 (en) * 2015-02-20 2016-12-27 ファナック株式会社 Human cooperative robot system that retracts the robot
DE102015009048B3 (en) * 2015-07-13 2016-08-18 Kuka Roboter Gmbh Controlling a compliant controlled robot
DE102015009151A1 (en) 2015-07-14 2017-01-19 Kuka Roboter Gmbh Determining an input command for a robot that is input to the robot by manually applying a force
DE102017102621B3 (en) 2017-02-09 2018-05-09 Franka Emika Gmbh robot

Also Published As

Publication number Publication date
KR102279382B1 (en) 2021-07-21
JP2020506813A (en) 2020-03-05
CN110382175A (en) 2019-10-25
WO2018146158A2 (en) 2018-08-16
US20200001456A1 (en) 2020-01-02
DE102017102621B3 (en) 2018-05-09
KR20190112784A (en) 2019-10-07
EP3580021A2 (en) 2019-12-18
CN110382175B (en) 2023-03-07
US11325251B2 (en) 2022-05-10

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