WO2005091090A3 - Industrial robot system, method and computer program - Google Patents

Industrial robot system, method and computer program Download PDF

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Publication number
WO2005091090A3
WO2005091090A3 PCT/EP2005/002790 EP2005002790W WO2005091090A3 WO 2005091090 A3 WO2005091090 A3 WO 2005091090A3 EP 2005002790 W EP2005002790 W EP 2005002790W WO 2005091090 A3 WO2005091090 A3 WO 2005091090A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot system
computer program
defined point
spatially defined
industrial robot
Prior art date
Application number
PCT/EP2005/002790
Other languages
French (fr)
Other versions
WO2005091090A2 (en
Inventor
Sven-Erik Johansson
Christian Poljen
Original Assignee
Abb Ab
Sven-Erik Johansson
Christian Poljen
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
Priority claimed from SE0400918A external-priority patent/SE0400918D0/en
Application filed by Abb Ab, Sven-Erik Johansson, Christian Poljen filed Critical Abb Ab
Publication of WO2005091090A2 publication Critical patent/WO2005091090A2/en
Publication of WO2005091090A3 publication Critical patent/WO2005091090A3/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
    • B25J9/1656—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
    • B25J9/1679—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
    • G05B2219/39124—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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39141—Slave program has no taught positions, receives position from master, convert from master
    • 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
    • G05B2219/40417—For cooperating manipulators

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)

Abstract

Industrial robot system comprising a plurality of robot system parts (1, 2, 3), namely robots, external axes or parts thereof, and a control system including at least one control unit arranged to realize the movements of each robot system part (1, 2, 3) in accordance with at least one computer program. A first robot system part (1) has a first spatially defined point (A) and a second robot part (2, 3) has a second spatially defined point (B, C). Said at least one computer program comprises program instructions including movement instructions (5) to move the first spatially defined point (A) along a predefined path, and at least one computer program comprises program instructions (6) to maintain the position of the second spatially defined point (B, C) relative to the position of the first spatially defined point (A) during movement.
PCT/EP2005/002790 2004-03-16 2005-03-16 Industrial robot system, method and computer program WO2005091090A2 (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US55311604P 2004-03-16 2004-03-16
US60/553,116 2004-03-16
US55498704P 2004-03-22 2004-03-22
US60/554,987 2004-03-22
SE0400918A SE0400918D0 (en) 2004-04-05 2004-04-05 Industrial robot system, method and computer program
SE0400918-9 2004-04-05

Publications (2)

Publication Number Publication Date
WO2005091090A2 WO2005091090A2 (en) 2005-09-29
WO2005091090A3 true WO2005091090A3 (en) 2006-02-23

Family

ID=34962268

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/002790 WO2005091090A2 (en) 2004-03-16 2005-03-16 Industrial robot system, method and computer program

Country Status (1)

Country Link
WO (1) WO2005091090A2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102481691B (en) * 2010-02-03 2015-04-29 松下电器产业株式会社 Robot system control method
DE102015204641B4 (en) * 2014-06-03 2021-03-25 ArtiMinds Robotics GmbH Method and system for programming a robot
JP6825686B1 (en) 2019-12-17 2021-02-03 株式会社安川電機 Production system, production method, and program

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5254923A (en) * 1991-07-24 1993-10-19 Nachi-Fujikoshi Corp. Industrial robot synchronous control method and apparatus
JPH0720915A (en) * 1993-07-06 1995-01-24 Fanuc Ltd Synchronism control method for robot
WO2003039817A1 (en) * 2001-11-07 2003-05-15 Kawasaki Jukogyo Kabushiki Kaisha Robot collaboration control system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5254923A (en) * 1991-07-24 1993-10-19 Nachi-Fujikoshi Corp. Industrial robot synchronous control method and apparatus
JPH0720915A (en) * 1993-07-06 1995-01-24 Fanuc Ltd Synchronism control method for robot
WO2003039817A1 (en) * 2001-11-07 2003-05-15 Kawasaki Jukogyo Kabushiki Kaisha Robot collaboration control system
EP1468791A1 (en) * 2001-11-07 2004-10-20 Kawasaki Jukogyo Kabushiki Kaisha Robot collaboration control system

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
JIN-JANG LEOU ET AL: "ROBOT OPERATION MONITORING FOR COLLISION AVOIDANCE BY IMAGE SEQUENCE ANALYSIS", PATTERN RECOGNITION, ELSEVIER, KIDLINGTON, GB, vol. 25, no. 8, 1 August 1992 (1992-08-01), pages 855 - 867, XP000306313, ISSN: 0031-3203 *
TZAFESTAS C S ET AL: "Path planning and control of a cooperative three-robot system manipulating large objects", JOURNAL OF INTELLIGENT AND ROBOTIC SYSTEMS: THEORY AND APPLICATIONS KLUWER ACADEMIC PUBLISHERS NETHERLANDS, vol. 22, no. 2, June 1998 (1998-06-01), pages 99 - 116, XP008057274, ISSN: 0921-0296 *

Also Published As

Publication number Publication date
WO2005091090A2 (en) 2005-09-29

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