SG11201910185TA - Collision handling by a robot - Google Patents

Collision handling by a robot

Info

Publication number
SG11201910185TA
SG11201910185TA SG11201910185TA SG11201910185TA SG11201910185TA SG 11201910185T A SG11201910185T A SG 11201910185TA SG 11201910185T A SG11201910185T A SG 11201910185TA SG 11201910185T A SG11201910185T A SG 11201910185TA SG 11201910185T A SG11201910185T A SG 11201910185TA
Authority
SG
Singapore
Prior art keywords
robot
collision handling
collision
handling
Prior art date
Application number
SG11201910185TA
Other languages
English (en)
Inventor
Sami Haddadin
Jonathan Vorndamme
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 SG11201910185TA publication Critical patent/SG11201910185TA/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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching 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
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • 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
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • 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
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Software Systems (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
SG11201910185TA 2017-05-29 2018-05-29 Collision handling by a robot SG11201910185TA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017005080 2017-05-29
PCT/EP2018/064075 WO2018219952A1 (en) 2017-05-29 2018-05-29 Collision handling by a robot

Publications (1)

Publication Number Publication Date
SG11201910185TA true SG11201910185TA (en) 2020-01-30

Family

ID=62636151

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201910185TA SG11201910185TA (en) 2017-05-29 2018-05-29 Collision handling by a robot

Country Status (7)

Country Link
US (1) US11370117B2 (ja)
EP (1) EP3634695A1 (ja)
JP (1) JP7015068B2 (ja)
KR (1) KR102363857B1 (ja)
CN (1) CN110662635B (ja)
SG (1) SG11201910185TA (ja)
WO (1) WO2018219952A1 (ja)

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CN106687062B (zh) * 2014-09-17 2019-11-22 直观外科手术操作公司 用于利用增广雅可比矩阵控制操纵器接头移动的系统和方法
US11833681B2 (en) * 2018-08-24 2023-12-05 Nvidia Corporation Robotic control system
CN109591023B (zh) * 2018-12-30 2020-09-08 深圳市优必选科技有限公司 串联机器人的迭代计算方法及串联机器人
US11714163B2 (en) 2020-03-18 2023-08-01 Samsung Electronics Co., Ltd. Acoustic collision detection and localization for robotic devices
TWI764377B (zh) * 2020-11-16 2022-05-11 達明機器人股份有限公司 機器人安全補償重量的系統及方法
CN112304245A (zh) * 2020-11-22 2021-02-02 西北工业大学 一种框肋零件外形偏差测量方法
US11931898B2 (en) 2020-12-22 2024-03-19 Boston Dynamics, Inc. Arm and body coordination
CN112775937B (zh) * 2021-01-07 2022-04-29 合肥工业大学 欠驱动液压单腿助力外骨骼的自适应鲁棒控制方法及装置
CN113043283B (zh) * 2021-04-23 2022-07-08 江苏理工学院 一种机器人末端外力预估方法
WO2023277736A2 (ru) * 2021-06-30 2023-01-05 Автономная некоммерческая организация высшего образования "Университет Иннополис" Способ определения силы и точки контакта коллаборативного робота с окружающей средой
US20230311338A1 (en) * 2022-04-05 2023-10-05 General Electric Company Apparatus and Method for Tool Monitoring
CN114643581B (zh) * 2022-04-20 2024-01-19 安徽大学 基于改进人工势场法的双机械臂避碰轨迹规划方法及系统

Family Cites Families (14)

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Publication number Priority date Publication date Assignee Title
JPH0866893A (ja) * 1994-08-24 1996-03-12 Fanuc Ltd 衝突検出方法
JP2000099105A (ja) * 1998-09-22 2000-04-07 Yaskawa Electric Corp 負荷機械の制御方法
JP4756618B2 (ja) 2001-03-21 2011-08-24 株式会社ダイヘン 多関節ロボットにおける衝突検出・停止制御法
JP3878054B2 (ja) * 2001-05-08 2007-02-07 三菱電機株式会社 ロボット制御装置
US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
JP2009537231A (ja) * 2006-05-19 2009-10-29 マコ サージカル コーポレーション 触覚デバイスを制御するための方法および装置
DE102006055849A1 (de) * 2006-11-27 2008-05-29 Innotec Gmbh Verfahren zur sicherheitsgerichteten Abschaltung von Bewegungsvorgängen im Kollisionsfall
US9687303B2 (en) * 2012-04-20 2017-06-27 Vanderbilt University Dexterous wrists for surgical intervention
FR3002048B1 (fr) 2013-02-14 2016-07-01 Commissariat Energie Atomique Procede de detection amelioree de collision d'un robot avec son environnement, systeme et produit programme d'ordinateur mettant en œuvre le procede
US9981389B2 (en) * 2014-03-03 2018-05-29 California Institute Of Technology Robotics platforms incorporating manipulators having common joint designs
EP2952300A1 (en) 2014-06-05 2015-12-09 Aldebaran Robotics Collision detection
CN104985598B (zh) * 2015-06-24 2016-11-23 南京埃斯顿机器人工程有限公司 一种工业机器人碰撞检测方法
DE102015009892A1 (de) * 2015-07-30 2017-02-02 Kuka Roboter Gmbh Verfahren und System zum Steuern eines Roboters
US10730191B2 (en) * 2015-10-30 2020-08-04 Kawasaki Jukogyo Kabushiki Kaisha Monitoring device of robot system

Also Published As

Publication number Publication date
KR20200033806A (ko) 2020-03-30
US20200061835A1 (en) 2020-02-27
JP7015068B2 (ja) 2022-02-02
CN110662635A (zh) 2020-01-07
JP2020521645A (ja) 2020-07-27
EP3634695A1 (en) 2020-04-15
CN110662635B (zh) 2022-11-22
KR102363857B1 (ko) 2022-02-16
WO2018219952A1 (en) 2018-12-06
US11370117B2 (en) 2022-06-28

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