WO2006117022A1 - Procede de commande d'un robot industriel - Google Patents

Procede de commande d'un robot industriel Download PDF

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Publication number
WO2006117022A1
WO2006117022A1 PCT/EP2005/051999 EP2005051999W WO2006117022A1 WO 2006117022 A1 WO2006117022 A1 WO 2006117022A1 EP 2005051999 W EP2005051999 W EP 2005051999W WO 2006117022 A1 WO2006117022 A1 WO 2006117022A1
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WO
WIPO (PCT)
Prior art keywords
robot
load
dynamic model
parameters
change
Prior art date
Application number
PCT/EP2005/051999
Other languages
English (en)
Inventor
Sven Hanssen
Torgny BROGÅRDH
Daniel WÄPPLING
Jonas Larsson
Ivan Lundberg
Original Assignee
Abb Research Ltd
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 Abb Research Ltd filed Critical Abb Research Ltd
Priority to PCT/EP2005/051999 priority Critical patent/WO2006117022A1/fr
Publication of WO2006117022A1 publication Critical patent/WO2006117022A1/fr

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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
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis

Definitions

  • the invention concerns a method for computerised control of a robot or manipulator.
  • the method relates to controlling movement of a mult!—jointed part of a robot, such as a robot arm.
  • the method is particularly applicable to controlling an arm of a robot to carry out a plurality of tasks.
  • a robot or manipulator arm generally includes a number of rigid arm parts jointed together to allow movement of the robot arm in three dimensions .
  • For accurate control of a robot manipulator it is necessary to know the relationship between the applied forces and the resulting motion. When the robot arm moves, this relationship changes with robot configuration. This configuration dependence within dynamic relationships of the robot motivates the use of inverse model control schemes.
  • EP 0 251 514 Bl to Toshiba entitled Apparatus for controlling a multijoint arm published 1988, describes a control apparatus for a multijoint robot arm with links mechanically and rotatably coupled to each other at joint portions.
  • the arm has actuators for rotating the links, and angle sensors for measuring the amount of link rotation.
  • the control apparatus includes a driver for the actuators, a detector for detecting the actually measured data of the links, in response to the output signals from the sensors, and a parameter identifier unit.
  • the parameter identifier unit is connected to the driver unit and the detector only when an initial dynamical model of the manipulator exceeds a predetermined allowance, thereby identifying the dynamical model of the manipulator.
  • NTT Dynamic model parameter identification system
  • the parameter classifying part calculates inertial parameters, and classifies the calculated inertial parameters into parameter groups.
  • the motion planning part calculates a condition number for the parameter coefficient sub- matrix, and calculates a number of equilibriums which is shown by the quotient of the maximum and minimum values of the vector normal of the rows of the coefficient sub—matrix.
  • the motion planning section sets the motion for parameter identification so that the condition number and number of equilibriums are both below predetermined values .
  • the parameter estimating means for estimating parameters is based on a linear equation consisting of unknown vectors, drive torque vectors and parameter coefficient matrix consisting of motion measurement .
  • a model inverse control scheme sometimes described as computed torque control, has been used for robot control. See for example US 5,444,612 assigned to Fanuc entitled Adaptive PI control system.
  • the inertial parameters of the robot arm must be known. These are usually found from relatively simple physical properties such as mass, location of centre of gravity, and inertia. However in practice it may be difficult to measure these parameters in an industrial setting with sufficient accuracy for a controlling a composite structure as complex as a robot arm. Certain of the physical parameters may require a new measurement each time that a load or a tool is changed. It may be difficult in an industrial setting to access a robot arm to make measurements . In addition, the number of parameters for a robot arm that have to be measured and then applied in calculations may become great .
  • a primary aim of the present invention is to provide a method for controlling an industrial robot using a dynamic model for control that overcomes the drawbacks of known such robot control methods.
  • a secondary aim is to provide a method for controlling an industrial robot using a dynamic model in which only a minimal number of measurements are required in order to determine base parameters for the model.
  • Another aim of the invention is to provide a method for controlling an industrial robot using a dynamic model wherein the model may be updated with an effective change in net load or payload by supplying a value for the change in load to the dynamic model.
  • the invention in the form of a method to control an industrial robot using a dynamic model to provide one or more control signals and/or control parameters to control the robot, where a first part of the dynamic model is obtained by identification of the base parameters of the model and where a second part of the dynamic robot model is obtained by using physical parameters, and by further transforming the physical dynamic parameters to base parameters, and then combining the identified base parameters for the first part of the dynamic model with the transformed physical parameters of the second part of the dynamic model to obtain a dynamic model represented in base parameters for the robot control.
  • the invention in the form of a method for controlling an industrial robot using a dynamic model for control dependent one or more physical parameters for a part of the robot.
  • the method comprises treating a load change as an addition of a rigid body module and inputting one or more known values for a physical parameter or for a plurality physical parameters and recalculating a base parameter of the dynamic model, thus adapting the dynamic model to include the effect of the change in load, or tool .
  • the invention in the form of a method for controlling an industrial robot using a dynamic model for control dependent one or more physical parameters for a part of the robot.
  • the method comprises inputting one or more known values for one or more physical parameters into a control unit, the value or values being dependent on a change in load, calculating a base parameter based on the physical parameters of the changed load, and calculating by means of the dynamic model including the base parameter a value for one or more control signals make the robot carry out a movement.
  • the invention in the form of a method for controlling an industrial robot using a dynamic model for control to provide a control signal for moving a part of the robot dependent one or more physical parameters for said part of the robot, comprising moving said part of the robot along a first trajectory, determining at least one said physical parameter of said part of the robot during the movement of said part, calculating at least one non-redundant base parameter based on the at least one said physical parameter, adding the at least one non—redundant base parameter into said dynamic model, and calculating by means of the dynamic model a value for one or more control signals to cause said part of the robot to move along a second trajectory.
  • the invention may be described summarily as a method in which identification of parameters for use in control of a multi—jointed robot arm is simplified by measuring a plurality of physical parameters of the robot arm while the robot arm is driven along a trajectory.
  • the robot arm is drive without a load or tool- Base parameters for the robot are then calculated from the physical parameters so obtained.
  • the calculations are preferably but not exclusively carried out by using a numerical approach, such as a form of matrix decomposition, to identify and derive a set of base parameters.
  • base parameters is used to describe linear combinations of physical parameters, which grouping or form is used so as to eliminate or reduce the number of physical parameters that may become linearly .dependent on each other in certain movements, thus becoming redundant parameters in some calculations .
  • a method by running a movement cycle for a test trajectory, preferably a test trajectory that may be supplied with the control unit, system, method and computer programs for carrying out the methods.
  • the test run is carried out without a tool or load.
  • movement of one or more parts of the arm etc are monitored, logged and sensed.
  • Physical parameters for the robot during the test trajectory are then used to calculate base parameters for the robot, using, for example numerical methods .
  • the robot may then be controlled by the dynamic model of the method, control unit and/or system using the base parameters calculated as herein described.
  • To adjust the dynamic model for a change in load, or a change of tool it is only a value for the new load or tool change that is required to be input via, for example, the control unit and the dynamic model then incorporates the new value in the model.
  • a principal advantage of the invention is that configuration of a control unit or control system using the invention is greatly simplified because the amount of data input necessary to configure or re—configure is reduced to a minimum.
  • the need for making measurements at the robot arm to obtain parameters such as gravity angle, centre of gravity, and so on when configuring or reconfiguring a robot is, in practice, eliminated entirely. This greatly speeds up the process of configuring a robot.
  • a control unit and/or system according to the invention may be used to control almost any regular industrial robot without first having to measure and/or input a quantity of control data consisting of multiple physical parameters particular to a specific make, type or model of robot.
  • Use of the invention is also very advantageous when using robots to tend new or additional machines or processes, for example to supply a workpiece to a welding robot for welding or to remove a component after an operation has been carried out by another machine, as set—up times and configuration or re—configuration times can be reduced due to the greatly simplified method for configuring the control program. It is only a change in load or change in load due to change in tool that has to be input to the controller, so as to adapt the physical parameters to the next configuration . Neither the gravity angle nor any other parameter has to be measured or dimensions of the robot arm for example identified and retrieved from manufacturer' s data and then input .
  • the invention also provides reduced set—up times for production changeovers to facilitate flexible manufacturing.
  • Changes in the specification of a product manufactured using traditional batch or continuous production may also be implemented by a robot without any reconfiguration apart from any change in load.
  • a robot may be used to carry out a series of tasks that require a plurality of tool changes or load changes without the downtime and loss of production normally associated with re-programming a robot. This may even be configured for multiple load/tool changes occurring during the same process.
  • the identification of parameters for use in control of a multi—jointed robot arm is carried out using an additional numerical approach, a form of Least Squares treatment such as for a rank-deficient LS problem. This is particularly effective when combined with a process in which the initial parameters are re—grouped such that they become linearly independent .
  • a computer program is described for carrying out the method according to the invention.
  • a computer program product comprising a computer program for carrying out the method of the invention is described.
  • a graphical user interface for displaying operational and configuration data for a robot controlled according to the invention, and optionally as a means for inputting data such as physical parameter data or load change data .
  • a control system for controlling an industrial robot with at least one axis of rotation and/or translation and preferably a plurality (between 1—6) of axes.
  • FIGURE 1 is a schematic or block diagram showing a layout in an industrial installation for a system according to an embodiment of the invention
  • FIGURE 2 is a flowchart for a method according to an embodiment of the invention
  • FIGURE 3a is a flowchart for a method for an operator to update a change in load according to a preferred embodiment of the invention
  • FIGURE 3b is a flowchart for a method for updating the dynamic model with a change in load
  • FIGURE 5 is a schematic or block diagram showing a layout in an industrial installation for a system according to another embodiment of the invention.
  • FIGURE 6 is a schematic flowchart for a method for updating a dynamic model for use with an unknown load, according to another embodiment of the invention.
  • FIGURE 7 is a schematic or block diagram showing physical parameters and base parameters of a part of a robot according to a preferred embodiment of the invention.
  • FIG. 1 shows schematically an overview with a robot control unit 3 comprising a processor 6 and a device or process for generating signals 7 to a motor or other actuator 11.
  • the control unit is arranged with a dynamic model 1.
  • Dynamic model 1 may receive data either for physical parameters 8 of the robot, and/or for base parameters 4 of the robot. This data 8, and/or 4 and parameters for the load or tool 5 is fed into the dynamic control model.
  • the control unit 3 is arranged to control movements of an arm or other stiff, multi—link body or part 10 of a robot .
  • the robot part is arranged with at least one actuator 11, typically an electric motor, and one or more sensors 13 to sense a position and/or rotational speed of the moving part. Value for motor torque may also be logged. Measurements of position and/or speed are logged and fed back 14 to the control unit 3.
  • Signal generator 7 generates a control signal which may be any of a control signal to an actuator/motor 11, a current supply to actuator 11, and/or a feed-forward value for motor torque.
  • the process of generating a signal may alternatively comprise more actions.
  • a path generator may be used to generate a path along which the robot part shall be driven to follow a desired trajectory.
  • the dynamic model 1 may then be used to calculate control signals and/or motor supply currents to drive the robot part so as to follow the desired trajectory.
  • Figure 2 is a flowchart for steps of a method according to an embodiment of the invention.
  • the method may be employed after a robot has been installed ready for use, which may for example be a single robot in a stand-alone situation, and after a point at which a configuration mode has been selected via a control unit.
  • test trajectory 20 or movement cycle preferably a predetermined cycle, which may be provided with the control unit.
  • the test cycle may preferably be carried out under no—load conditions 21.
  • the test trajectory is run 23, and physical parameters of the robot such as torque, time, arm position, arm speed are logged or sensed and recorded while the robot moves through the predetermined, known test cycle .
  • Physical parameters of the robot such as position and torque are used in calculations 25 to derive one or more base parameters for the robot .
  • FIG. 3a shows a schematic flowchart for a method according to an preferred embodiment of the invention.
  • Figure 3b shows additional steps for the method carried out in the control unit.
  • Change in load is input 30, then new base parameters for the load are calculated 31.
  • the new base parameters are stored or updated 32 and available for retrieval for use in the dynamic model calculations.
  • Figure 5 shows a schematic layout in an industrial installation for a system comprising a control unit according to another embodiment of the invention.
  • Figure 5 shows a robot with a multi- link part 10, connected to a control unit 3.
  • Control unit 3 is connected to a data network 55, which may at least in part comprise a LAN based on a standard such as Ethernet .
  • the data network comprises a wireless node 56, a workstation 57a, a portable computing device 57b and a wireless portable computing device 57c.
  • the control unit 3 may be accessed for control and/or configuration purposes via a local panel or other means arranged on the control unit itself, via a workstation 57a connected to a LAN or other data network 55.
  • control unit may be accessed by a suitably logged-in user with a portable control device 57b or wireless portable device 57c.
  • Any of the control unit 3, workstation 57a, portable device 57b and wireless computing device or TPU 57c may comprise a graphical user interface .
  • a user such as an operator, engineer or technician in a factory or other installation for industrial or any other commercial or public service operations may, when suitably logged in, configure or otherwise program a manipulator arm or robot to carry out one or more tasks.
  • the processor 6 of the control unit may be a standard processor or computer, it may be an analogue or a digital device; alternatively it may be a custom computing device, such as an ASIC (application specific integrated circuit) . It is also possible to combine the function of a path generator with the processor or computing device 6 for processing inputs and providing outputs dependent on the dynamic model comprising the base parameters as described above.
  • H H(q,q,q,l) is a matrix
  • X PHrs is an array with the inertial parameters of the system.
  • the q , q and q are the generalized co-ordinates and its time derivatives in the dynamic model whereas / denotes an array of spatial lengths of the bodies in the system.
  • the inertial properties of a rigid body may be described by 10 parameters.
  • inertial properties of a rigid body such as mass, distance between centre of gravity of the rigid body and a point of attachment to the robot, moment of inertia for each of 6 axes, are sufficient for the dynamic model to model the robot structure with a load change.
  • the physical parameters may be determined in advance and provided, for example by a manufacturer of the robot or robot component or tool component concerned.
  • Ip IpIx 2 + lply 2 + Ip2x 2 + Ip2y 2 + 2IpIy Ip2y ( 6)
  • X BASE (Y) Jl 22 + 32 ⁇ + 2 lply m2y + QpIx 2 + lply 2 ) rn2 + Jl 22 . +
  • Figure 7 shows a robot base part 80 in a fixed position, with a body 81 joined to the first body by a joint PO 70 which is rotatable about a z—direction.
  • a rigid body 82, 83 is attached to body 81 by a second joint Pl 71 which is rotatable about a y axis, that is, in or out of the plane of the page.
  • the vector PO-Pl is a Euclidian vector which is described by (length) components lplx, lply, lplz in each of the x, y and z directions.
  • the vector Pl-P2 is described by components Ip2x, 1p2y, Ip2z.
  • the third rigid body 83 is joined to the rigid body
  • the tool 83 has a Tool Centre Point TCP 85 as shown.
  • the physical parameters 8 8 i for the first body 81 are given by its mass ml, mass times the center of gravity vector (mlx,mly,mlz) , and its inertia tensor defined by Jl xx , Jly ⁇ , Jl ⁇ zr Jl ⁇ / Jl ⁇ z/ Jl ⁇ f cf. Figure 7.
  • the new base parameters for the complete system may then be expressed as: ⁇ ROBOT+RBM _ Y ROBOT , ⁇ . j rv RBM , Q ,
  • the dynamic model may be updated by a base parameter based on a single value input representing a load change or load change due to tool change or similar, and without having to carry out an identification, that is, without having to make physical measurements on the robot or robot/tool to find angles or a gravitation angle or a moment.
  • a known change in load as described in this specification means a change which may be due to any of a number of changes, such as adding or removing power cables, hoses or control cabling to a robot, or a change in the arm geometry or dimensions by, for example, extending the length of an arm with an arm extender, load changes due to exchanging one tool for another, by adding a tool, by adding a tool accessory, or by a change in pay load, the "useful load” carried or otherwise manipulated by the robot .
  • the change in load has been input to the model and the model re-calculated then the robot can be operated again with the new load or new tool, without being forced to re-make the identification.
  • a test cycle may be carried out under no—load conditions to determine robot physical parameters from which base parameters for the robot may be calculated and used in the dynamic model.
  • the test cycle may be carried out with a known and non—zero Load or a different tool arranged on the robot.
  • the value of the known load is input via the control unit, locally or remotely, as otherwise described in relation to Figure 3a and/or 3b.
  • the difference in the case of a non—zero known load test cycle being that the base parameters for each of the robot and the load may be separately calculated and obtained from the robot physical parameters sensed and recorded under the known load test cycle -
  • Figure 4 shows a flowchart for method according to a further development of preferred embodiment.
  • the method shows generally that the dynamic model control may use existing values for physical parameters of the robot, if found 40, and then calculate base parameters for the robot 45 and store or update 52 the values for use by the dynamic model.
  • a check is made for stored robot base parameters 41. If base parameters are found they are stored/updated 52 for use in the dynamic model. If no base parameters are found the a process may be run to set up and start a test cycle 43 to measure physical parameters of the robot. During the test cycle position of the robot part is sensed and values for speed and/or motor torque may be logged 44.
  • Base parameters for the robot are calculated 45 as before and stored/updated 52 ready for use in the dynamic model.
  • An advantage of this method is a minimum of operator input is needed to identify and calculate base parameters for the dynamic model.
  • the test run is preferably run under no—load conditions, but may, if required be run with a known load.
  • the present invention may be operated using a computing device which may or may not be portable, and which may be a custom device or may be a general purpose computing device such as a Personal Data Assistant (PDA) , or a may be a more specialised computing device such a Teach Pendant (TPU) for a robot .
  • a computing device which may or may not be portable, and which may be a custom device or may be a general purpose computing device such as a Personal Data Assistant (PDA) , or a may be a more specialised computing device such a Teach Pendant (TPU) for a robot .
  • PDA Personal Data Assistant
  • TPU Teach Pendant
  • the computing device is a wireless portable computing device 57c embodied as a TPU.
  • the TPU may be activated or otherwise begin operations in respect of an industrial robot in a hot plug routine, that is, without performing a pause or power down/power up of the robot before the TPU can begin to operate or control the robot .
  • the TPU 57b, 57c may be equipped with a display screen, which may be relatively small in size, it may run an operating system of its own as well as application software for performing operations concerned with controlling and/or teaching a robot.
  • the user of the TPU can mark a part of the industrial device on the display screen, in this case an industrial robot or an automation device and then input data for load, change of tool or even other physical parameters associated with the movement to be performed by a robot arm, or part of.
  • the user manipulates the display screen or parts of a graphical user interface displayed on the display screen so as to cause or instruct the dynamic model to run a test cycle and/or calculate or re—calculate movements for the robot on the basis of the load changes or other physical parameters input by the user.
  • Signals based on outputs from sensors such as sensor 13 arranged on a robot or manipulator arm may also be sent to the computing device via a data network to provide monitoring and/or supervision of physical parameter data input to the dynamic model .
  • the invention may advantageously be used to configure or program a manipulator arm or industrial robot to carry out tasks associated with any from the list of operations as : gripping an object, manipulating an object, stacking, pick and place objects, welding, framing a vehicle body, riveting, de- burring, fettling, grinding, coating, painting, dry spraying, gluing, folding plate, bending plate, hemming plate.
  • control unit is also suitable for controlling and operating an amusement ride. That is to say controlling a robot implemented operation such as an amusement ride, in which one or more human passengers are conveyed along a trajectory by an adapted robot arm moveable with a plurality of degrees of freedom, fox example six degrees of freedom.
  • One or more microprocessors comprise a central processing unit CPU performing the steps of the methods according to one or more aspects of the invention, as described for example with reference to Figures 2, 3a, 3b, 4, 7, 6.
  • the method or methods are performed with the aid of one or more computer programs, which are stored at least in part in memory accessible by the one or more processors.
  • the computer programs for carrying out methods according to the invention may also be run on one or more general purpose industrial microprocessors or computers instead of one or more specially adapted computers or processors, which may comprise one or more FPGAs (field programmable gate arrays) or ASICs (application specific integrated circuits) or other devices such as simple programmable logic devices (SPLDs) , complex programmable logic devices (CPLDs) , field programmable system chips (FPSCs) .
  • FPGAs field programmable gate arrays
  • ASICs application specific integrated circuits
  • SPLDs simple programmable logic devices
  • CPLDs complex programmable logic devices
  • FPSCs field programmable system chips
  • the computer program comprises computer program code elements or software code portions that make the computer or processor perform the methods using equations, algorithms, data, stored values, calculations and statistical or pattern recognition methods previously described, for example in relation to Figures 2, 3a, 3b, 4, 7, 6.
  • the computer program may comprise one or more small executable programs.
  • a part of the program may be stored in a processor as above, but also in a ROM, RAM, PROM, EPROM or EEPROM chip or similar memory means.
  • the or some of the programs in part or in whole may also be stored locally (or centrally) on, or in, other suitable computer readable medium such as a magnetic disk, CD-ROM or DVD disk, hard disk, magneto—optical memory storage means, in volatile memory, in flash memory, as firmware, or stored on one or more data servers .
  • the program may also in part be supplied from a data network, including a public network such as the Internet.
  • the computer programs described may also be arranged in part as a distributed application capable of running on several different computers or computer systems at more or less the same time .
  • Figure 6 shows a schematic flowchart for another preferred embodiment.
  • a load value is not known, such as for example when a load is represented by a tool that may not be dismantled from the robot for some reason
  • a method is provided to determine the base parameters required to control the robot part with an unknown load.
  • the resulting parameters may be solved to find the value of the unknown load when the base parameters of the robot alone (from a no-load test cycle) are already known.
  • the control unit is configured to select 62 a process for an unknown load.
  • a test trajectory is run 63 as before and physical parameters of the robot part are sensed and/or measured and logged 64.
  • the base parameters are calculated for the unknown load 65.
  • Previously calculated base parameters for the robot may be used to find the value of the unknown load by, for example, solving the above equations in respect of the dynamic model using in particular equation (4) .

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

Abstract

L'invention porte sur un procédé, sur un système et sur un module de commande d'un robot industriel, ce système utilisant un modèle dynamique pour générer des signaux de commande afin de déplacer une partie du robot en fonction d'un ou plusieurs paramètres physiques connus de la partie du robot. Le procédé peut notamment s'appliquer à un changement de charge ou d'outil du robot. Le procédé consiste à effectuer un changement sur une charge agissant sur une partie du robot, identifier un paramètre physique et introduire une ou plusieurs valeurs prédéterminées du paramètre physique, les valeurs étant dérivées auparavant, et traiter le changement de charge comme l'ajout d'un ou plusieurs corps rigides agissant sur la partie du robot. L'invention porte également sur un module et sur un système de commande de ce robot.
PCT/EP2005/051999 2005-05-02 2005-05-02 Procede de commande d'un robot industriel WO2006117022A1 (fr)

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Cited By (16)

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WO2009043969A1 (fr) * 2007-10-01 2009-04-09 Sandvik Mining And Construction Oy Procédé, appareil et programme informatique pour le réglage d'une rampe hydraulique
DE102008006982A1 (de) * 2008-01-31 2009-08-13 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter und Verfahren zum Parametrieren eines Robotermodells
WO2014000766A1 (fr) 2012-06-26 2014-01-03 Abb Technology Ltd Paramètres de réglage d'un modèle de robot dynamique
CN104267598A (zh) * 2014-09-19 2015-01-07 江南大学 一种Delta机器人运动机构的模糊PI控制器设计方法
DE102013012446A1 (de) * 2013-07-26 2015-01-29 Kuka Laboratories Gmbh Verfahren zum Überwachen einer nutzlastführenden Roboteranordnung
US9393693B1 (en) 2014-07-10 2016-07-19 Google Inc. Methods and systems for determining and modeling admissible gripper forces for robotic devices
WO2017079344A1 (fr) 2015-11-02 2017-05-11 The Johns Hopkins University Génération d'interface utilisateur robotique en réponse à la connexion de périphériques à un robot
US9962835B2 (en) 2013-12-17 2018-05-08 Syddansk Universitet Device for dynamic switching of robot control points
CN109213306A (zh) * 2017-06-30 2019-01-15 沈阳新松机器人自动化股份有限公司 一种机器人远程控制平台及其设计方法
CN109732608A (zh) * 2019-02-18 2019-05-10 上海电气集团股份有限公司 工业机器人的惯性参数的辨识方法及系统
WO2019108917A1 (fr) * 2017-11-30 2019-06-06 Abb Schweiz Ag Procédé de fonctionnement d'un robot
WO2020017092A1 (fr) * 2018-07-17 2020-01-23 オムロン株式会社 Dispositif, procédé et programme d'identification de paramètre
DE102009032278B4 (de) * 2009-07-08 2021-03-04 Kuka Roboter Gmbh Verfahren und eine Vorrichtung zum Betreiben eines Manipulators
CN113021331A (zh) * 2019-12-24 2021-06-25 沈阳智能机器人创新中心有限公司 一种七自由度协作机器人动力学建模与辨识方法
CN114505864A (zh) * 2022-03-11 2022-05-17 上海柏楚电子科技股份有限公司 一种手眼标定方法、装置、设备及存储介质
WO2022188976A1 (fr) * 2021-03-11 2022-09-15 Abb Schweiz Ag Procédé de gestion de manipulateur, système de commande et robot industriel

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