WO2006029432A3 - Verfahren zur kollisionsvermeidung - Google Patents
Verfahren zur kollisionsvermeidung Download PDFInfo
- Publication number
- WO2006029432A3 WO2006029432A3 PCT/AT2005/000367 AT2005000367W WO2006029432A3 WO 2006029432 A3 WO2006029432 A3 WO 2006029432A3 AT 2005000367 W AT2005000367 W AT 2005000367W WO 2006029432 A3 WO2006029432 A3 WO 2006029432A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- data
- basis
- forms
- component
- time intervals
- Prior art date
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
- B25J9/1664—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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- 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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4061—Avoiding collision or forbidden zones
-
- 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
- G05B2219/39098—Estimate stop, brake distance in predef time, then verify if in safe distance
-
- 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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49141—Detect near collision and slow, stop, inhibit movement tool
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/662,566 US8577591B2 (en) | 2004-09-15 | 2005-09-14 | Method for preventing a collision between a part movable along an axis and an obstacle |
AT05782868T ATE518173T1 (de) | 2004-09-15 | 2005-09-14 | Verfahren zur kollisionsvermeidung |
EP05782868A EP1789861B1 (de) | 2004-09-15 | 2005-09-14 | Verfahren zur kollisionsvermeidung |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT0155804A AT502286B1 (de) | 2004-09-15 | 2004-09-15 | Verfahren zur kollisionsvermeidung |
ATA1558/2004 | 2004-09-15 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2006029432A2 WO2006029432A2 (de) | 2006-03-23 |
WO2006029432A3 true WO2006029432A3 (de) | 2006-11-09 |
Family
ID=35456900
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/AT2005/000367 WO2006029432A2 (de) | 2004-09-15 | 2005-09-14 | Verfahren zur kollisionsvermeidung |
Country Status (4)
Country | Link |
---|---|
US (1) | US8577591B2 (de) |
EP (1) | EP1789861B1 (de) |
AT (2) | AT502286B1 (de) |
WO (1) | WO2006029432A2 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111376862B (zh) * | 2020-03-27 | 2021-05-28 | 海南耐威科技系统技术研究院有限公司 | 一种车门防撞预警系统及预警方法 |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007037078B4 (de) * | 2007-08-06 | 2022-01-27 | Kuka Roboter Gmbh | Verfahren zur Einhaltung von Arbeitsraumgrenzen eines Arbeitsmittels eines Roboters |
DE102007037077B4 (de) * | 2007-08-06 | 2019-02-21 | Kuka Roboter Gmbh | Verfahren zur Einhaltung von Arbeitsraumgrenzen eines Arbeitsmittels eines Roboters |
JP2009090403A (ja) * | 2007-10-05 | 2009-04-30 | Fanuc Ltd | ロボット動作範囲設定装置 |
DE112011103155T5 (de) * | 2010-09-21 | 2013-07-18 | Toyota Jidosha Kabushiki Kaisha | Beweglicher Körper |
WO2014048443A1 (en) * | 2012-09-25 | 2014-04-03 | Abb Technology Ag | Method for supervising a robot |
CN107907593B (zh) * | 2017-11-22 | 2020-09-22 | 中南大学 | 一种超声检测中机械手防碰撞方法 |
TWI656942B (zh) | 2018-01-12 | 2019-04-21 | 財團法人工業技術研究院 | 工具機防碰撞方法及工具機防碰撞系統 |
CN108544491B (zh) * | 2018-03-30 | 2020-04-28 | 杭州电子科技大学 | 一种综合考虑距离与方向两因素的移动机器人避障方法 |
DE102018133472B3 (de) * | 2018-12-21 | 2020-03-12 | Franka Emika Gmbh | Bewegungsüberwachung eines Robotermanipulators |
TWI716849B (zh) | 2019-04-10 | 2021-01-21 | 財團法人工業技術研究院 | 預先檢測加工路徑碰撞方法及系統 |
EP3797937A1 (de) * | 2019-09-27 | 2021-03-31 | Siemens Aktiengesellschaft | Anhalten einer produktionsmaschine auf kollisionsfreier bahn |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10226140A1 (de) * | 2002-06-13 | 2004-01-08 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Vermeiden von Kollisionen zwischen Industrierobotern und anderen Objekten |
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JPS6483424A (en) * | 1987-09-25 | 1989-03-29 | Honda Motor Co Ltd | Indicator for vehicle |
US5249851A (en) * | 1988-04-07 | 1993-10-05 | Oddvard Johnsen | Method and system for non-locking and non-skidding braking/traction of a vehicle wheel |
DE3903757A1 (de) | 1989-02-09 | 1990-08-16 | Man Ghh Krantechnik | Verfahren zur begrenzung des dreh- und ausladungsbereiches von drehkraenen, insbesondere turmdrehkraenen |
US5111401A (en) * | 1990-05-19 | 1992-05-05 | The United States Of America As Represented By The Secretary Of The Navy | Navigational control system for an autonomous vehicle |
DE19546652A1 (de) * | 1995-12-14 | 1997-06-19 | Fev Motorentech Gmbh & Co Kg | Verfahren zur Reduzierung der Fahrgeschwindigkeit eines mit einem Kollisionsvermeidungssystem ausgerüsteten Kraftfahrzeuges |
JP3314686B2 (ja) * | 1997-09-18 | 2002-08-12 | トヨタ自動車株式会社 | 車両最短停止距離予測方法および車両最短停止距離予測装置 |
JP2000025486A (ja) * | 1998-07-13 | 2000-01-25 | Denso Corp | 車間距離制御装置及び記録媒体 |
US6317651B1 (en) * | 1999-03-26 | 2001-11-13 | Kuka Development Laboratories, Inc. | Trajectory generation system |
JP2001014596A (ja) * | 1999-04-30 | 2001-01-19 | Takata Corp | 車両衝突警報装置 |
DE60044682D1 (de) * | 1999-12-16 | 2010-08-26 | Panasonic Corp | Verfahren und gerät zur steuerung und positionierung eines roboters |
DE60116801T2 (de) * | 2000-11-24 | 2006-08-31 | Aisin Seiki K.K., Kariya | Fahrzeugkollisionsverhinderungsvorrichtung |
DE10102771A1 (de) * | 2001-01-23 | 2002-07-25 | Bosch Gmbh Robert | Einrichtung zum Bereitstellen von Signalen in einem Kraftfahrzeug |
JP3896852B2 (ja) * | 2002-01-16 | 2007-03-22 | 株式会社デンソー | 車両用衝突被害軽減装置 |
DE10201488A1 (de) * | 2002-01-16 | 2003-07-31 | Duerr Systems Gmbh | Verfahren zur Steuerung eines Roboters und Steuereinheit für einen Roboter |
US6678582B2 (en) * | 2002-05-30 | 2004-01-13 | Kuka Roboter Gmbh | Method and control device for avoiding collisions between cooperating robots |
US7221777B2 (en) * | 2002-07-02 | 2007-05-22 | Honda Giken Kogyo Kabushiki Kaisha | Image analysis device |
JP4045961B2 (ja) * | 2003-01-24 | 2008-02-13 | 日産自動車株式会社 | 制動制御装置 |
DE10304019A1 (de) * | 2003-02-01 | 2004-11-04 | Kuka Roboter Gmbh | Verfahren zum Überwachen einer Maschine und derartige Maschine, insbesondere Roboter |
JP3948416B2 (ja) * | 2003-02-27 | 2007-07-25 | 株式会社デンソー | 衝突回避制御装置 |
US7016783B2 (en) * | 2003-03-28 | 2006-03-21 | Delphi Technologies, Inc. | Collision avoidance with active steering and braking |
US7318767B2 (en) * | 2004-10-05 | 2008-01-15 | Ruger, Barthelt & Abel | Device and method for machine control |
DE102006048163B4 (de) * | 2006-07-31 | 2013-06-06 | Pilz Gmbh & Co. Kg | Kamerabasierte Überwachung bewegter Maschinen und/oder beweglicher Maschinenelemente zur Kollisionsverhinderung |
-
2004
- 2004-09-15 AT AT0155804A patent/AT502286B1/de not_active IP Right Cessation
-
2005
- 2005-09-14 EP EP05782868A patent/EP1789861B1/de active Active
- 2005-09-14 WO PCT/AT2005/000367 patent/WO2006029432A2/de active Application Filing
- 2005-09-14 AT AT05782868T patent/ATE518173T1/de active
- 2005-09-14 US US11/662,566 patent/US8577591B2/en active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10226140A1 (de) * | 2002-06-13 | 2004-01-08 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Vermeiden von Kollisionen zwischen Industrierobotern und anderen Objekten |
Non-Patent Citations (4)
Title |
---|
CHANG C ET AL: "COLLISION AVOIDANCE OF TWO GENERAL ROBOT MANIPULATORS BY MINIMUM DELAY TIME", IEEE TRANSACTIONS ON SYSTEMS, MAN AND CYBERNETICS, IEEE INC. NEW YORK, US, vol. 24, no. 3, 1 March 1994 (1994-03-01), pages 517 - 522, XP000440883, ISSN: 0018-9472 * |
FREUND E ET AL: "EIN ALGORITHMS ZUR KOLLISIONSERKUNNUNG UND -VERMEIDUNG BEI ROBOTERNMIT ZYLINDERFORMIGEM ARBEITSRAUM", ROBOTERSYSTEME, SPRINGER VERLAG. BERLIN, DE, vol. 6, no. 1, 1 March 1990 (1990-03-01), pages 1 - 10, XP000104118 * |
NAK YOUNG CHONG ET AL: "Coordinated rate control of multiple telerobot systems with time delay", IEEE SMC'99 CONFERENCE PROCEEDINGS. 1999 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (CAT. NO.99CH37028) IEEE PISCATAWAY, NJ, USA, vol. 5, 1999, pages 1123 - 1128 vol., XP002390297, ISBN: 0-7803-5731-0 * |
NAK YOUNG CHONG ET AL: "Remote coordinated controls in multiple telerobot cooperation", PROCEEDINGS 2000 ICRA. MILLENNIUM CONFERENCE. IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION. SYMPOSIA PROCEEDINGS (CAT. NO.00CH37065) IEEE PISCATAWAY, NJ, USA, vol. 4, 2000, pages 3138 - 3143 vol., XP002390298, ISBN: 0-7803-5886-4 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111376862B (zh) * | 2020-03-27 | 2021-05-28 | 海南耐威科技系统技术研究院有限公司 | 一种车门防撞预警系统及预警方法 |
Also Published As
Publication number | Publication date |
---|---|
ATE518173T1 (de) | 2011-08-15 |
AT502286B1 (de) | 2008-09-15 |
AT502286A1 (de) | 2007-02-15 |
WO2006029432A2 (de) | 2006-03-23 |
EP1789861B1 (de) | 2011-07-27 |
US20080243387A1 (en) | 2008-10-02 |
US8577591B2 (en) | 2013-11-05 |
EP1789861A2 (de) | 2007-05-30 |
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