SG11202108269TA - Aligning two robot arms relative to one another - Google Patents

Aligning two robot arms relative to one another

Info

Publication number
SG11202108269TA
SG11202108269TA SG11202108269TA SG11202108269TA SG11202108269TA SG 11202108269T A SG11202108269T A SG 11202108269TA SG 11202108269T A SG11202108269T A SG 11202108269TA SG 11202108269T A SG11202108269T A SG 11202108269TA SG 11202108269T A SG11202108269T A SG 11202108269TA
Authority
SG
Singapore
Prior art keywords
aligning
another
robot arms
arms relative
relative
Prior art date
Application number
SG11202108269TA
Other languages
English (en)
Inventor
Lockhart Daniel Wahrmann
Andreas Spenninger
Mohamadreza Sabaghian
Christoph Jähne
Zheng Qu
Thore Goll
Ahmed Wafik
Benjamin Loinger
Christoph Kugler
Garcia Carles Calafell
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 SG11202108269TA publication Critical patent/SG11202108269TA/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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • 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
    • B25J9/1666—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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • G05B2219/39001—Robot, manipulator control
    • 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
    • G05B2219/39124—Grasp common rigid object, no movement end effectors relative to object
    • 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
    • G05B2219/40339—Avoid collision

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
SG11202108269TA 2019-02-05 2020-02-03 Aligning two robot arms relative to one another SG11202108269TA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019102803.5A DE102019102803B4 (de) 2019-02-05 2019-02-05 Ausrichten zweier Roboterarme zueinander
PCT/EP2020/052538 WO2020161039A1 (de) 2019-02-05 2020-02-03 Ausrichten zweier roboterarme zueinander

Publications (1)

Publication Number Publication Date
SG11202108269TA true SG11202108269TA (en) 2021-08-30

Family

ID=69423329

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11202108269TA SG11202108269TA (en) 2019-02-05 2020-02-03 Aligning two robot arms relative to one another

Country Status (8)

Country Link
US (1) US20220097233A1 (de)
EP (1) EP3921122A1 (de)
JP (1) JP2022519859A (de)
KR (1) KR20220020245A (de)
CN (1) CN113316502B (de)
DE (1) DE102019102803B4 (de)
SG (1) SG11202108269TA (de)
WO (1) WO2020161039A1 (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11587302B2 (en) 2019-12-17 2023-02-21 X Development Llc Shared dense network with robot task-specific heads
JP7484254B2 (ja) 2020-03-13 2024-05-16 オムロン株式会社 干渉判定装置、方法、及びプログラム
DE102021204148B3 (de) 2021-04-27 2022-06-23 Kuka Deutschland Gmbh Verfahren und System zum koordinierten Abfahren vorgegebener Roboterbahnen
CN116061820A (zh) * 2021-11-01 2023-05-05 华人运通(江苏)技术有限公司 车辆的控制方法、装置、系统、机械臂以及车辆
CN116330280B (zh) * 2023-01-16 2024-03-12 苏州艾利特机器人有限公司 机器人碰撞检测方法、装置、设备及介质

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05324034A (ja) * 1992-05-20 1993-12-07 Meidensha Corp ロボットの制御方法
DE19625637A1 (de) * 1996-06-26 1998-01-02 Brink Carsten Dipl Ing Ten Kollisionsvermeidung und Trajektorienplanung beim Mehrroboterbetrieb mit Hilfe von Kollisionsbereichen
JP3797986B2 (ja) * 2003-07-03 2006-07-19 ファナック株式会社 ロボットオフラインシミュレーション装置
DE102008018962B4 (de) * 2008-04-16 2015-08-20 Kuka Roboter Gmbh Verfahren zur Steuerung eines Roboters
US8386080B2 (en) * 2009-09-15 2013-02-26 Harris Corporation Robotic apparatus implementing collision avoidance scheme and associated methods
DE102012103830B4 (de) * 2011-05-05 2022-05-25 Fanuc Robotics America Corp. Verfahren und computerlesbare Medien zur automatischen Verbindung von gegenseitiger Blockierung in Mehrfachrobotersytemen
CN104608125B (zh) * 2013-11-01 2019-12-17 精工爱普生株式会社 机器人、控制装置以及机器人系统
KR101619927B1 (ko) * 2014-05-07 2016-05-13 서울대학교산학협력단 다중 이동조작로봇의 협업제어 및 장애물회피 기법
WO2016119829A1 (en) * 2015-01-28 2016-08-04 Abb Schweiz Ag Multiple arm robot system and method for operating a multiple arm robot system
DE102015116522B3 (de) * 2015-10-13 2016-10-27 ATENSOR Engineering and Technology Systems GmbH Synchronisierung mehrerer Roboter
JP7009051B2 (ja) * 2016-08-04 2022-01-25 キヤノン株式会社 レイアウト設定方法、制御プログラム、記録媒体、制御装置、部品の製造方法、ロボットシステム、ロボット制御装置、情報処理方法、情報処理装置
CN106426176B (zh) * 2016-11-08 2018-06-26 北京邮电大学 一种六自由度空间机械臂动态负载能力工作空间分析方法
CN107253191B (zh) * 2017-05-22 2023-05-02 广州中国科学院先进技术研究所 一种双机械臂系统及其协调控制方法
DE102017129665B3 (de) * 2017-12-12 2019-01-24 Pilz Gmbh & Co. Kg Kollisionsfreie Bewegungsplanung bei geschlossener Kinematik

Also Published As

Publication number Publication date
EP3921122A1 (de) 2021-12-15
US20220097233A1 (en) 2022-03-31
JP2022519859A (ja) 2022-03-25
DE102019102803B4 (de) 2022-02-17
DE102019102803A1 (de) 2020-08-06
KR20220020245A (ko) 2022-02-18
CN113316502B (zh) 2024-05-28
WO2020161039A1 (de) 2020-08-13
CN113316502A (zh) 2021-08-27

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