WO2007096322A3 - A system for controlling the position and orientation of an object in dependence on received forces and torques from a user - Google Patents

A system for controlling the position and orientation of an object in dependence on received forces and torques from a user Download PDF

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Publication number
WO2007096322A3
WO2007096322A3 PCT/EP2007/051549 EP2007051549W WO2007096322A3 WO 2007096322 A3 WO2007096322 A3 WO 2007096322A3 EP 2007051549 W EP2007051549 W EP 2007051549W WO 2007096322 A3 WO2007096322 A3 WO 2007096322A3
Authority
WO
WIPO (PCT)
Prior art keywords
orientation
torques
sensor
user
forces
Prior art date
Application number
PCT/EP2007/051549
Other languages
French (fr)
Other versions
WO2007096322A2 (en
Inventor
Torgny Brogaardh
Original Assignee
Abb Ab
Torgny Brogaardh
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 Ab, Torgny Brogaardh filed Critical Abb Ab
Priority to EP07704633A priority Critical patent/EP1987406B1/en
Priority to AT07704633T priority patent/ATE476692T1/en
Priority to US12/280,678 priority patent/US20090259412A1/en
Priority to DE602007008206T priority patent/DE602007008206D1/en
Publication of WO2007096322A2 publication Critical patent/WO2007096322A2/en
Publication of WO2007096322A3 publication Critical patent/WO2007096322A3/en

Links

Classifications

    • 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
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/162—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of piezoresistors
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36425—Move manually, touch surface, record position
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36433—Position assisted teaching
    • 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
    • G05B2219/39439—Joystick, handle, lever controls manipulator directly, manually by operator
    • 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
    • G05B2219/39529—Force, torque sensor in wrist, end effector
    • 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
    • G05B2219/40599—Force, torque sensor integrated in joint
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41114—Compensation for gravity, counter balance gravity

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Body Structure For Vehicles (AREA)

Abstract

The invention relates to a system for controlling the position and orientation of an object (1,3). The system comprises a measuring assembly (6) including a first (7) and a second part (8), wherei n the first part is adapted to receive forces and torques from a user, and a sensor (9) adapted to measure forces and torques caused by changes in position and orientation of the first part in relation to the second part, and a data processing unit (18) arranged to receive measured data from said sensor and based thereon to control the position and orientation of the object. The sensor comprises a semiconductor chip with integrated sensor elements. The measuring assembly comprises a spring arrangement (11) mounted between the first and second parts and mechanically connected to the sensor, for converting forces and torques from the user to changes in position and orientation of said first part in relation to said second part, and said sensor is adapted to measure forces and torques from the spring arrangement caused by the changes in position and orientation of the first part.
PCT/EP2007/051549 2006-02-23 2007-02-19 A system for controlling the position and orientation of an object in dependence on received forces and torques from a user WO2007096322A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP07704633A EP1987406B1 (en) 2006-02-23 2007-02-19 A system for controlling the position and orientation of an object in dependence on received forces and torques from a user
AT07704633T ATE476692T1 (en) 2006-02-23 2007-02-19 SYSTEM FOR CONTROLLING THE POSITION AND ORIENTATION OF AN OBJECT DEPENDING ON FORCES AND TORQUES RECEIVED FROM A USER
US12/280,678 US20090259412A1 (en) 2006-02-23 2007-02-19 system for controlling the position and orientation of an object in dependence on received forces and torques from a user
DE602007008206T DE602007008206D1 (en) 2006-02-23 2007-02-19 SYSTEM FOR CONTROLLING THE POSITION AND ORIENTATION OF AN OBJECT ACCORDING TO THE FORCES AND TORQES RECEIVED BY A USER

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US77578106P 2006-02-23 2006-02-23
US60/775,781 2006-02-23

Publications (2)

Publication Number Publication Date
WO2007096322A2 WO2007096322A2 (en) 2007-08-30
WO2007096322A3 true WO2007096322A3 (en) 2007-10-25

Family

ID=38267702

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/051549 WO2007096322A2 (en) 2006-02-23 2007-02-19 A system for controlling the position and orientation of an object in dependence on received forces and torques from a user

Country Status (6)

Country Link
US (1) US20090259412A1 (en)
EP (1) EP1987406B1 (en)
CN (1) CN101390027A (en)
AT (1) ATE476692T1 (en)
DE (1) DE602007008206D1 (en)
WO (1) WO2007096322A2 (en)

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