SG11202109599XA - System and method for constraint management of one or more robots - Google Patents

System and method for constraint management of one or more robots

Info

Publication number
SG11202109599XA
SG11202109599XA SG11202109599XA SG11202109599XA SG 11202109599X A SG11202109599X A SG 11202109599XA SG 11202109599X A SG11202109599X A SG 11202109599XA SG 11202109599X A SG11202109599X A SG 11202109599XA
Authority
SG
Singapore
Prior art keywords
robots
constraint management
constraint
management
Prior art date
Application number
Inventor
Eric Truebenbach
Evgeny Polyakov
Peter Lustig
Original Assignee
Teradyne Inc
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 Teradyne Inc filed Critical Teradyne Inc
Publication of SG11202109599XA publication Critical patent/SG11202109599XA/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
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • 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
    • B25J9/1692—Calibration 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
    • B25J9/1602—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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • 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
    • 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
    • G05B2219/40229—Analytical redundancy, use available funcional redundancy of model
    • 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
    • G05B2219/40336—Optimize multiple constraints or subtasks
    • 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
    • G05B2219/40338—Task priority redundancy
    • 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
    • G05B2219/40367—Redundant manipulator
SG11202109599X 2019-04-08 2020-04-07 System and method for constraint management of one or more robots SG11202109599XA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US16/378,343 US11358282B2 (en) 2019-04-08 2019-04-08 System and method for constraint management of one or more robots
PCT/US2020/027049 WO2020210217A1 (en) 2019-04-08 2020-04-07 System and method for constraint management of one or more robots

Publications (1)

Publication Number Publication Date
SG11202109599XA true SG11202109599XA (en) 2021-10-28

Family

ID=72662841

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11202109599X SG11202109599XA (en) 2019-04-08 2020-04-07 System and method for constraint management of one or more robots

Country Status (7)

Country Link
US (1) US11358282B2 (en)
EP (1) EP3953114A4 (en)
JP (1) JP2022526397A (en)
CN (1) CN113677486A (en)
SG (1) SG11202109599XA (en)
TW (1) TW202039185A (en)
WO (1) WO2020210217A1 (en)

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DE102019117217B3 (en) * 2019-06-26 2020-08-20 Franka Emika Gmbh Method for specifying an input value on a robot manipulator
US11648674B2 (en) 2019-07-23 2023-05-16 Teradyne, Inc. System and method for robotic bin picking using advanced scanning techniques
DE102019131400B4 (en) * 2019-11-21 2022-03-10 Franka Emika Gmbh Force measurement and force generation in redundant robotic manipulators
US11407110B2 (en) * 2020-07-17 2022-08-09 Path Robotics, Inc. Real time feedback and dynamic adjustment for welding robots
CN112451089B (en) * 2020-10-13 2023-01-20 北京工业大学 Pose space equidistant trajectory planning method for correcting tibial deformity
FR3116747B1 (en) * 2020-11-30 2023-04-21 Mbda France Motion learning system and method for programming at least one robotic device.
JP2024508564A (en) 2021-02-24 2024-02-27 パス ロボティクス， インコーポレイテッド autonomous welding robot
WO2023199456A1 (en) * 2022-04-14 2023-10-19 日本電気株式会社 Control device, robot system, control method, and recording medium
TWI825896B (en) * 2022-08-03 2023-12-11 優式機器人股份有限公司 Environmental finishing control method
TWI811050B (en) * 2022-08-03 2023-08-01 優式機器人股份有限公司 Control method for the cooperation of multiple mobile robots
CN115958611B (en) * 2023-03-17 2023-06-27 苏州艾利特机器人有限公司 Mechanical arm dexterity assessment method, device and storage medium

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US7680300B2 (en) 2004-06-01 2010-03-16 Energid Technologies Visual object recognition and tracking
DE602005005306T2 (en) 2005-05-31 2009-05-07 Honda Research Institute Europe Gmbh Control of the path of a gripper
US8301421B2 (en) 2006-03-31 2012-10-30 Energid Technologies Automatic control system generation for robot design validation
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US9357708B2 (en) 2008-05-05 2016-06-07 Energid Technologies Corporation Flexible robotic manipulation mechanism
US8428781B2 (en) 2008-11-17 2013-04-23 Energid Technologies, Inc. Systems and methods of coordination control for robot manipulation
DE102013218823A1 (en) * 2013-09-19 2015-04-02 Kuka Laboratories Gmbh Method for manually adjusting the pose of a manipulator arm of an industrial robot and associated industrial robots
US10078712B2 (en) 2014-01-14 2018-09-18 Energid Technologies Corporation Digital proxy simulation of robotic hardware
US9387589B2 (en) * 2014-02-25 2016-07-12 GM Global Technology Operations LLC Visual debugging of robotic tasks
EP3180168B1 (en) * 2014-08-14 2021-05-26 KUKA Deutschland GmbH Positioning a robot
WO2016103307A1 (en) 2014-12-26 2016-06-30 川崎重工業株式会社 Method for generating robot operation program, and device for generating robot operation program
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Also Published As

Publication number Publication date
EP3953114A1 (en) 2022-02-16
CN113677486A (en) 2021-11-19
US20200316779A1 (en) 2020-10-08
TW202039185A (en) 2020-11-01
JP2022526397A (en) 2022-05-24
US11358282B2 (en) 2022-06-14
WO2020210217A1 (en) 2020-10-15
EP3953114A4 (en) 2022-06-01

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