WO2017064105A3 - Multi-axis mouse for a multi-axis robot - Google Patents

Multi-axis mouse for a multi-axis robot Download PDF

Info

Publication number
WO2017064105A3
WO2017064105A3 PCT/EP2016/074429 EP2016074429W WO2017064105A3 WO 2017064105 A3 WO2017064105 A3 WO 2017064105A3 EP 2016074429 W EP2016074429 W EP 2016074429W WO 2017064105 A3 WO2017064105 A3 WO 2017064105A3
Authority
WO
WIPO (PCT)
Prior art keywords
axis
mouse
robot
axis robot
attaching
Prior art date
Application number
PCT/EP2016/074429
Other languages
German (de)
French (fr)
Other versions
WO2017064105A2 (en
Inventor
Claus Feninger
Hubert Schill
Original Assignee
Toolmotion GmbH
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 Toolmotion GmbH filed Critical Toolmotion GmbH
Publication of WO2017064105A2 publication Critical patent/WO2017064105A2/en
Publication of WO2017064105A3 publication Critical patent/WO2017064105A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B25J13/065—Control stands, e.g. consoles, switchboards comprising joy-sticks
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • 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

Abstract

The invention relates to a multi-axis mouse for a multi-axis robot for attaching to an end effector of the multi-axis robot, said mouse comprising a 3-axis acceleration sensor.
PCT/EP2016/074429 2015-10-12 2016-10-12 Multi-axis mouse for a multi-axis robot WO2017064105A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015117306.9A DE102015117306B4 (en) 2015-10-12 2015-10-12 Multi-axis mouse for a multi-axis robot
DE102015117306.9 2015-10-12

Publications (2)

Publication Number Publication Date
WO2017064105A2 WO2017064105A2 (en) 2017-04-20
WO2017064105A3 true WO2017064105A3 (en) 2017-06-08

Family

ID=57281186

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/074429 WO2017064105A2 (en) 2015-10-12 2016-10-12 Multi-axis mouse for a multi-axis robot

Country Status (2)

Country Link
DE (1) DE102015117306B4 (en)
WO (1) WO2017064105A2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107160391B (en) * 2017-05-25 2020-07-31 深圳市越疆科技有限公司 Motion control method of mechanical arm, third-party processing terminal and storage medium
CN108527405A (en) * 2018-03-30 2018-09-14 天津大学 A kind of cooperation robot guiding teaching system
CN108527320B (en) * 2018-03-30 2021-08-13 天津大学 Three-dimensional mouse-based collaborative robot guiding teaching method

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3211992A1 (en) * 1982-03-31 1983-10-06 Wagner Gmbh J Method and device for programming a robot, in particular paint spraying robot
JPH03123907A (en) * 1989-10-06 1991-05-27 Hitachi Constr Mach Co Ltd Direct teaching device and method of robot
JPH068168A (en) * 1992-06-25 1994-01-18 Fanuc Ltd Direct teaching rod
JPH08216074A (en) * 1995-02-17 1996-08-27 Yaskawa Electric Corp Direct teaching device of robot
US20060178775A1 (en) * 2005-02-04 2006-08-10 George Zhang Accelerometer to monitor movement of a tool assembly attached to a robot end effector
US20100312391A1 (en) * 2009-06-05 2010-12-09 Abb Research Ltd. Calibration Of A Lead-Through Teaching Device For An Industrial Robot
JP2011224745A (en) * 2010-04-21 2011-11-10 Yaskawa Electric Corp Robot teaching device and controller for the same, and program
US20120130541A1 (en) * 2010-09-07 2012-05-24 Szalek Leszek A Method and apparatus for robot teaching
WO2014110682A1 (en) * 2013-01-18 2014-07-24 Robotiq Inc. Force/torque sensor, apparatus and method for robot teaching and operation

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3240251A1 (en) 1982-10-30 1984-05-03 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln METHOD FOR PROGRAMMING MOVEMENTS AND, IF REQUIRED, MACHINING FORCES OR -MOMENTS OF A ROBOT OR MANIPULATOR AND DEVICE FOR CARRYING OUT THIS
JP4589045B2 (en) 2004-07-15 2010-12-01 株式会社東芝 Toner container
DE102007026299B4 (en) 2007-06-06 2018-08-16 Kuka Roboter Gmbh Industrial robots and method for programming an industrial robot
DE102008027008B4 (en) 2008-06-06 2016-03-17 Kuka Roboter Gmbh Method and device for controlling a manipulator
ES1068573Y (en) * 2008-08-04 2009-02-01 Fernandez Jesus Maria Dominguez PRECISION LEVER FOR CONTROL
DE102009041946A1 (en) * 2009-09-17 2011-03-24 Kuka Roboter Gmbh Input device and method for a manipulator
DE102013019869B4 (en) * 2013-11-28 2022-01-13 Abb Schweiz Ag Robot arm with input module
DE102014004919B4 (en) * 2014-04-07 2022-05-12 Abb Schweiz Ag Method and means for manipulating an object

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3211992A1 (en) * 1982-03-31 1983-10-06 Wagner Gmbh J Method and device for programming a robot, in particular paint spraying robot
JPH03123907A (en) * 1989-10-06 1991-05-27 Hitachi Constr Mach Co Ltd Direct teaching device and method of robot
JPH068168A (en) * 1992-06-25 1994-01-18 Fanuc Ltd Direct teaching rod
JPH08216074A (en) * 1995-02-17 1996-08-27 Yaskawa Electric Corp Direct teaching device of robot
US20060178775A1 (en) * 2005-02-04 2006-08-10 George Zhang Accelerometer to monitor movement of a tool assembly attached to a robot end effector
US20100312391A1 (en) * 2009-06-05 2010-12-09 Abb Research Ltd. Calibration Of A Lead-Through Teaching Device For An Industrial Robot
JP2011224745A (en) * 2010-04-21 2011-11-10 Yaskawa Electric Corp Robot teaching device and controller for the same, and program
US20120130541A1 (en) * 2010-09-07 2012-05-24 Szalek Leszek A Method and apparatus for robot teaching
WO2014110682A1 (en) * 2013-01-18 2014-07-24 Robotiq Inc. Force/torque sensor, apparatus and method for robot teaching and operation

Also Published As

Publication number Publication date
WO2017064105A2 (en) 2017-04-20
DE102015117306A1 (en) 2017-04-13
DE102015117306B4 (en) 2018-01-18

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