WO2017036521A1 - Dispositif, système et procédé d'enseignement d'une position avec un dispositif d'enseignement de position tenu en main - Google Patents

Dispositif, système et procédé d'enseignement d'une position avec un dispositif d'enseignement de position tenu en main Download PDF

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Publication number
WO2017036521A1
WO2017036521A1 PCT/EP2015/070007 EP2015070007W WO2017036521A1 WO 2017036521 A1 WO2017036521 A1 WO 2017036521A1 EP 2015070007 W EP2015070007 W EP 2015070007W WO 2017036521 A1 WO2017036521 A1 WO 2017036521A1
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WO
WIPO (PCT)
Prior art keywords
hand
robot
teaching
held
position vector
Prior art date
Application number
PCT/EP2015/070007
Other languages
English (en)
Inventor
Fan Dai
Björn MATTHIAS
Arne WAHRBURG
Hao Ding
Original Assignee
Abb Schweiz Ag
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 Schweiz Ag filed Critical Abb Schweiz Ag
Priority to PCT/EP2015/070007 priority Critical patent/WO2017036521A1/fr
Publication of WO2017036521A1 publication Critical patent/WO2017036521A1/fr

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
    • 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
    • G05B19/409—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 using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • 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
    • 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
    • G05B2219/36451—Handheld toollike probe, work instructor, lightweigted, connected to recorder
    • 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
    • G05B2219/36453—Handheld tool like probe

Definitions

  • the invention is related to a hand-held position vector teaching device for robot programming.
  • robots are widely used in industrial production, such as for handling tasks like gripping, but also for welding or painting.
  • Dependent on their respective purposes robots have typically a robot arm with a length in the range of 0,5 to 3,5m which consists of several robot members and which are connected by respective hinged joints to a kinematic chain.
  • a robot arm typically comprises five to seven joints, so that in total five to seven degrees of freedom in movement are gained.
  • a mechanical interaction tool is mounted at the tip of the robot arm to mechanically go into contact with a workpiece to be treated or gripped.
  • a mechanical interaction tool might be a gripper or a welding gun for example.
  • a robot with at least six degrees of freedom in movement has the ability to reach all coordinates within its working range in each desired orientation with the tip of its arm.
  • three degrees of freedom in movement are required to reach any x, y, z coordinate, whereas the other three degrees of freedom in movement are required to gain any orientation around the coordinate.
  • Such flexibility is required for example for complex robot tasks like gripping a workpiece or welding or the like.
  • six degrees of freedom in movement are also of advantage for tasks with no direct mechanical contact to the workpiece to be treated such as robotic paint spraying.
  • the robot joints are driven by dedicated motors which usually are controlled by a common robot controller.
  • a typical robot controller comprises a computing unit and several amplifiers for the electrical supply of the motors with a respective suitable variable voltage signal.
  • the robot controller is foreseen to execute a respective robot program on its computing unit.
  • a robot program usually comprises data about the desired movement path of the tip of the robot arm respectively of a reference point in a fixed relation thereto, which is a so-called tool center point (TCP).
  • TCP tool center point
  • a coordinate might include - besides values for desired x, y, z position - a desired orientation of the tip of the robot arm respectively the TCP, so that - dependent on the coordinate system used - three values per coordinate are required to define the coordinate as such within the three dimensional x, y, z coordinate system and further three values per coordinate are required to define the orientation.
  • the robot controller interpolates the movement path inbe- tween the subsequent coordinates provided within the robot program. In order to get the coordinates within the robot program aligned with the coordinate system of the real robot, both, the coordinates in the robot program and the coordinate system of the robot itself, have to be aligned to the same reference coordinate system.
  • a robot movement program might additionally include some reference values for a force on a workpiece to be treated which has to be applied by the mechanical interaction tool. This might be for example a gripping force which is applied by the gripper fingers of a gripper on a gripped object inbetween them. But also a mechanical force, which is to be applied by use of a tip-like mechanical interaction tool mounted on the tip of a robot arm on a workpiece in order to move it to another location, might be defined in a robot program.
  • the observance of such a force during execution of the robot program might be enabled as well by use of force sensors implemented in the mechanical interaction tool as by an indirect calculation of a force by use of the electrical currents of the motors of the robot joints, for example. In case that the given maximum force is reached the respective motors are controlled in that way that the prescribed maximum force is not exceeded.
  • Another but also disadvantageous possibility of teaching coordinates of a movement path consists in moving a real robot arm with its mechanical interaction tool mounted thereon manually around the workpiece to be treated and to set a respective coordinate in the robot program when a desired location has been reached.
  • Each movement of the robot arm requires the control of its motors with a teach pendant or the like.
  • this procedure is very time consuming, especially in case of a mechanical interaction of the mechanical interaction tool with the workpiece to be treated, since only a very low tolerance of the TCP is admitted then, otherwise a mechanical collision would be the consequence during teaching or execution of the robot program.
  • Automated spraying application for example has a much higher tolerance since a typical spraying distance might be inbetween 20cm to 25cm, so that deviations of +/- 1 cm in the distance to the surface of the object to be treated will not cause a collision or even a measurable reduction of the paint result.
  • Objective of the invention is to provide a device and a method, which facilitate the teaching respectively determination of coordinates of a movement path when generating a robot program.
  • a position- and orientation determination device integrated in the hand-held base body which is foreseen to determine the position of the reference tool center point and the orientation of the reference axis relatively to a reference coordinate system which is aligned to the mechanical interaction device
  • the hand-held position vector teaching device is foreseen to provide data to its communication interface which are describing the current position of the reference tool center point and the orientation of the reference axis relative to the aligned reference coordinate system.
  • Basic idea of the invention is to use a hand-held device for manually teaching a position vector by holding the tool center point (TCP) of its mechanical interaction device in the desired orientation on the desired location on the surface of a real reference workpiece of a type which is foreseen to be treated by a robot later on. This is significantly easier than moving the whole robot arm with a mechanical interaction device mounted thereon around a workpiece for position vector teaching.
  • the position and orientation of the TCP respectively the reference axis of the mechanical interaction device is determined with respect to an aligned reference coordinate system by the integrated position- and orientation determination device.
  • the determined position vector is transmitted by the communication interface to, for example, an external computing device, which might be a personal computer with a simple text editor running thereon, so that the data of the position vectors transmitted thereto can easily become implemented into a robot program.
  • an external computing device which might be a personal computer with a simple text editor running thereon
  • CAD programming is extremely facilitated by providing the respective position vectors through the hand-held position vector teaching device according to the invention.
  • the computing device might also be part of a robot controller itself, which is foreseen to control a robot for executing a respective robot program using those position vectors.
  • a mechanical contact inbetween the mechanical interaction device and the workpiece to be treated is foreseen when determining the data of a position vector to be taught.
  • the mechanical interaction device mounted on the hand-held base body is designed in that way, that it is defining a reference tool center point on the reference axis. This might be in the easiest case a tip whose end corresponds to the tool center point. Thus it is possible to manually press the end of the tip, which is corresponding to the tool center point, onto the surface of the workpiece to be treated and to align the reference axis in its desired orientation.
  • the hand-held position vector teaching device further comprises a user interface for manual interaction to initiate providing of data to the communication user interface, in particular a button.
  • a user interface for manual interaction to initiate providing of data to the communication user interface, in particular a button.
  • a touch display or the like is a suitable interface.
  • the user interface for manual interaction to initiate providing of data to the communication interface comprises a button, means for detecting a galvanic contact of the mechani- cal interaction device with a work piece or other objects, means for detecting a predetermined threshold force to be achieved by a contact with a work piece or other objects and/or other sensory means.
  • the mechanical interaction device comprises a tip defining the reference tool center point.
  • the end of the tip can easily be used as pointer to define a coordinate on the surface of a workpiece.
  • the end of the tip is covered with a soft material so that scratches or the like on the surface of the workpiece are avoided therewith.
  • the mechanical interaction device comprises a gripper with gripper fingers defining the reference tool center point inbe- tween them.
  • Grippers might have two or more gripper fingers which can be opened and closed.
  • a gripper mounted on the arm of a robot is typically driven by a motor or another actuator.
  • a gripper mounted on the mechanical interaction tool of a handheld position vector teaching device according to the invention might also be opened and closed by a manually operated spring mechanism or the like, so that no drive or actuator other than the manual force of the user is required. This enables intuitive gripping of a workpiece in an advantageous way so that also the position vectors required for gripping are teachable in an easy way.
  • the hand-held position vector teaching device further comprises a user interface for manual interaction to open and/or close the gripper fingers.
  • a user interface for manual interaction to open and/or close the gripper fingers.
  • the mechanical interaction device is exchangeable by another mechanical interaction device.
  • the same hand-held base body can be used for teaching with different manual interaction devices making the hand-held position vector teaching device more flexible therewith.
  • a standardized plug and play interface is foreseen to facilitate exchange.
  • the position- and orientation determination device comprises an inertial measurement unit.
  • This is a sensory device for determining a relative motion inbetween two coordinates respectively a reorientation.
  • Another possibility for determining the position could be based on the installation of several beacons within or around the working space. In case that the beacons are sending in a synchronous manner some localization signals, the respective delay times to the position- and orientation determination device could be used for determing the position, comparable to the global positioning system (GPS).
  • GPS global positioning system
  • the mechanical interaction device comprises at least one force sensor and the hand-held position vector teaching device is foreseen to provide also data to the communication interface which describe a force measured by the at least one force sensor.
  • the mechanical interaction device of the hand-held position vector teaching device is foreseen to go into mechanical contact with the workpiece to be treated so that accordingly a respective contact force inbetween mechanical interaction device and workpiece is caused.
  • the mechanical interaction tool of the hand-held position vector teaching device and use the force data determined with the at least one force sensor as control data for a robot program to be generated, wherein the robot arm of the robot to be controlled has a respective comparable mechanical interaction tool mounted on its tip.
  • the mechanical interaction tool mounted on the tip of a robot arm should have force sensors or the like.
  • the mechanical interaction tool is of a rigid structure and a force is applied by a movement respectively pressure force of the robot arm on that's tip the mechanical interaction device is mounted.
  • the mechanical interaction tool has a gripping functionality and an own actuator is causing a pressure force when gripping.
  • the at least one force sensor is foreseen to measure a contact force applied with the reference tool center point on an external object and/or in case of a gripper an applied gripping force in between the gripper fingers. Indirectly, contact force of the gripped object with any objects can also be determined.
  • the communication interface is based on a wireless data connection.
  • the hand-held position teaching device further comprises a computing device, in particular a robot controller, which is connected to the communication interface of the hand-held position teaching device and which is foreseen to receive and store provided data.
  • the computing device might be a CAD computer with a CAD software program product running thereon, which facilitates implementing the received data of the hand-held position vector teaching device into a robot program generated therewith.
  • a robot controller for this purpose, wherein in this case preferably also a robot controlled by the robot controller is foreseen.
  • a robot controller is foreseen to generate a robot program by manually moving the robot to the desired positions and teach the respective coordinate afterwards.
  • teaching coordinates is facilitated therewith since coordinates are teachable without any robot movement by using the hand-held position teaching device according to the invention. Due to the presence of the robot it is also possible to verify a newly generated robot program directly by use of the robot.
  • the computing device or at least a part of it with limited functionality is integrated within the hand-held position teaching device itself.
  • a user interface such as a touch-screen or the like is useful in order to enable an improved interaction with the user.
  • a position vector teaching system further comprises a robot, which is controllable by the computing device, in particular by the robot controller, wherein the coordinate system of the robot is aligned to the same reference coordinate system as the mechanical interaction device. Since both the hand-held position teaching device and the robot are aligned to the same coordinate system, it is ensured that the position vectors determined with the hand-held position teaching device are exactly in agreement with the position vectors to be reached by the robot arm when executing the robot program. In case of a mismatch it is of course possible to adjust the position vectors determined by the hand-held position teaching device to the reference coordinate system of the robot to be controlled by a coordinate transformation.
  • the problem of the invention is also solved by a method for teaching a position vector by use of a position teaching system according to the invention, comprising the following steps:
  • Providing data to the communication interface is preferably triggered by manual interaction of the user, for example by one of manual initiation by a control such as a but-ton, by galvanic contact to the work piece (if it is conductive), by a contact force that exceeds a previously specified threshold (this can help to teach force / position combinations on compliant work pieces).
  • a control such as a but-ton
  • galvanic contact to the work piece if it is conductive
  • a contact force that exceeds a previously specified threshold this can help to teach force / position combinations on compliant work pieces.
  • This embodiment facilitates the teaching of position vectors insofar, that also forces applied during the teaching phase are determined and can be used as a respective reference force values within a robot program to be generated. Especially in case that the forces are applied manually this is a very intuitive method.
  • Figure 1 shows an exemplary first hand-held position teaching device
  • Figure 2 shows an exemplary second hand-held position teaching device
  • Figure 3 shows an exemplary third hand-held position teaching device
  • Figure 4 shows an exemplary position vector teaching system
  • Figure 5 shows an exemplary first robot system
  • Figure 6 shows an exemplary second robot system.
  • Figure 1 shows an exemplary first hand-held position teaching device 10.
  • a mechanical interaction device 14 - in this case an elongated part with a tip - is mounted on a hand-held base body 12 and is extending along a reference axis 1 6.
  • the end of the elongated part is defining a reference tool center point 18, which is foreseen to be manually hold in a respective desired orientation on several locations on the surface of a workpiece so that respective position vectors can be determined by use of a position- and orientation determination device 20, which is also integrated in the handheld base body 12.
  • a position vector might be described by three data values for x-, y- and z- coordinates of the tool center point and three data values for orientation of the reference axis 1 6.
  • the position- and orientation determination device 20 might be based on a gyrostatic compass or on an inertial measurement device, for example, and is aligned 24 to a reference coordinate system 22.
  • a force sensor 32 is foreseen to determine any force that is applied through the mechanical interaction device 14 on an external workpiece.
  • the respective measurement data of a respective force are provided to the communication interface 26 in the same way than the coordinate data of the tool center point respectively the orientation of the reference axis.
  • a computing unit 30 is foreseen for performing smaller computing tasks such as preprocessing of measurement values for example.
  • a communication interface 26 is foreseen to communicate the respective determined measurement data of position of the tool center point and the determined measurement data of the orientation of the reference axis 16, which in combination are defining a position vector, via a data exchange 28 to an external computing unit which is not depicted in this figure.
  • Providing of data to the communication interface 26 can be initiated by a manual action, for example by pushing a button 34.
  • a manual action for example by pushing a button 34.
  • FIG. 2 shows an exemplary second hand-held position teaching device 40.
  • a mechanical interaction device 44 - in this case gripper with gripper fingers 46, 48 - is mounted on a hand-held base body 42 and is extending along a reference axis 54.
  • a tool center point 56 is defined on the reference axis 54 inbetween the gripper fingers 46, 48 at the height of their axial end.
  • Each gripper finger 46, 48 is provided with a respective force sensor 50, 52, so that a clamping force inbetween the gripper fingers 46, 48 is determinable therewith.
  • Respective position vectors can be determined by use of a position- and orientation determination device 58, which is also integrated in the hand-held base body 42.
  • the position- and orientation determination device 58 is aligned 62 to a reference coordinate system 60.
  • a communication interface 64 is foreseen to communicate the respective determined measurement data of position of the tool center point and the determined measure- ment data of the orientation of the reference axis 54 via a data exchange 66 to an external computing unit which is not depicted in this figure.
  • a computing unit 68 is foreseen for performing smaller computing tasks such as preprocessing of measurement values.
  • Providing of data to the communication interface 64 can be initiated by a manual action, for example by pushing a button 70, or by detecting the contact with the work piece by galvanic contact, or by detecting a predetermined threshold force to be achieved by the contact with the work piece or other objects, or by other sensors means.
  • Figure 3 shows an exemplary third hand-held position teaching device 80.
  • a mechanical interaction device 84 - in this case gripper with gripper fingers 86 - is mounted on a hand-held base body 82.
  • a user interface 90 respectively a button is foreseen to initiate providing position and orientation data determined by a not shown position- and orientation determination device integrated within the hand-held base body 82.
  • the gripper fingers 86 can be opened and closed by manually compressing a clamplike user interface 88 for manual interaction. This is a very simple and intuitive method which also provides a simple force feedback to the hand of the user. In case that also a force value has to be determined the hand-held position teaching device 80 can easily be equipped with one or more force sensors.
  • Figure 4 shows an exemplary position vector teaching system 100 with a user 102.
  • a conveyor 1 12 is foreseen to provide workpieces to be gripped.
  • the user 102 held in his right hand an exemplary hand-held position teaching device 104 in a desired pose to be taught. He is manually applying a force 106 on a gripped workpiece 108, wherein the force is determined by a force sensor integrated in the hand-held position teaching device 104.
  • the hand-held position teaching device 104 further comprises a position- and orientation determination device which is aligned 120 to a reference coordinate system 1 18.
  • a communication interface is foreseen for data exchange 1 14 with an external computing device 1 1 6, so that measurement data of the tool center point, orientation and the force inbetween the gripper fingers can be provided to the external computing device 1 1 6.
  • FIG. 5 shows an exemplary first robot system 130.
  • a conveyor 138 is providing workpieces to be gripped.
  • a robot 140 is controlled by a computing device 142 - in this case a robot controller - and has a further mechanical interaction device 132 respectively a gripper mounted on the tip of its arm. The gripper applies a force 134 on a gripped workpiece 136.
  • the movements of the robot 140 and of the gripper are controlled according to a movement program running on the computing device 142.
  • the position vectors within the robot program defining the movement path of the robot arm have been taught by use of a hand-held position teaching device as depicted in figure 4.
  • the robot 140 respectively the computing device 142 is aligned 146 to a reference coordinate system 144 which is the same as the reference coordinate system for the hand-held position teaching device shown in figure 4.
  • Figure 6 shows an exemplary second robot system 150.
  • a robot 152 is controlled by a computing device 154 - in this case a robot controller - and has a further mechanical interaction device 1 62 respectively a gripper mounted on the tip of its arm.
  • the robot 152 respectively the computing device 154 is aligned 1 60 to a coordinate system which is different from a coordinate system 156, which has been used for teaching the coordinate vectors of the robot program running on the computing device 154.
  • a coordinate system adjustment 158 is foreseen.
  • gripper fingers 88 user interface for manual interaction (clamp)

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

La présente invention concerne un dispositif d'enseignement de position tenu en main (12, 42, 82, 104) et un procédé pour enseigner à un robot une position et une orientation avec un dispositif d'enseignement de position tenu en main, le dispositif d'enseignement comprenant un point d'outil (18, 56) (TCP: Tool Centre Point) de dispositif d'enseignement, des capteurs de force (32, 50, 52) et des capteurs inertiels (20, 58) et son système de coordonnées étant calibré pour le système de coordonnées du robot, et le dispositif d'apprentissage étant maintenu dans la position et l'orientation voulues et transmettant la position et l'orientation du TCP du dispositif d'enseignement à l'unité de commande de robot (116) pour être stockées. L'utilisateur (102) peut également appliquer une force à un organe de préhension (44, 48, 84, 88) du dispositif d'enseignement et serrer une pièce (108 110) de manière à enseigner une fonction de préhension. Le dispositif de commande du robot peut ensuite utiliser la pluralité de positions et orientations mémorisées afin de commander et de déplacer le robot. Cela est sensiblement plus facile que de déplacer l'ensemble du bras de robot avec un dispositif d'enseignement monté sur le bras ou commandé par le bras.
PCT/EP2015/070007 2015-09-02 2015-09-02 Dispositif, système et procédé d'enseignement d'une position avec un dispositif d'enseignement de position tenu en main WO2017036521A1 (fr)

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PCT/EP2015/070007 WO2017036521A1 (fr) 2015-09-02 2015-09-02 Dispositif, système et procédé d'enseignement d'une position avec un dispositif d'enseignement de position tenu en main

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PCT/EP2015/070007 WO2017036521A1 (fr) 2015-09-02 2015-09-02 Dispositif, système et procédé d'enseignement d'une position avec un dispositif d'enseignement de position tenu en main

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023116651B3 (de) 2023-06-23 2024-09-05 Kuka Deutschland Gmbh Tragbare Roboter-Lehrvorrichtung und Verfahren zum manuellen Einlernen von Arbeitspunkten, Bahnpunkten und/oder Trajektorien

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005060338A2 (fr) * 2003-12-12 2005-07-07 Abb Research Ltd. Methode, dispositif et systeme de programmation d'un robot
DE102008062623A1 (de) * 2008-12-17 2010-06-24 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Auswahl einer gespeicherten Position eines Arbeitspunktes eines Manipulators
WO2011039542A1 (fr) * 2009-10-02 2011-04-07 The Welding Insitute Procédé et système de programmation d'un robot
EP2481529A1 (fr) * 2011-01-31 2012-08-01 ROBOJOB, besloten vennootschap Procédé de manipulation d'une série de pièces de travail identiques présentées successivement au moyen d'un robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005060338A2 (fr) * 2003-12-12 2005-07-07 Abb Research Ltd. Methode, dispositif et systeme de programmation d'un robot
DE102008062623A1 (de) * 2008-12-17 2010-06-24 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Auswahl einer gespeicherten Position eines Arbeitspunktes eines Manipulators
WO2011039542A1 (fr) * 2009-10-02 2011-04-07 The Welding Insitute Procédé et système de programmation d'un robot
EP2481529A1 (fr) * 2011-01-31 2012-08-01 ROBOJOB, besloten vennootschap Procédé de manipulation d'une série de pièces de travail identiques présentées successivement au moyen d'un robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023116651B3 (de) 2023-06-23 2024-09-05 Kuka Deutschland Gmbh Tragbare Roboter-Lehrvorrichtung und Verfahren zum manuellen Einlernen von Arbeitspunkten, Bahnpunkten und/oder Trajektorien

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