WO2017080649A3 - Sensitive roboter durch sensorik vor der ersten roboterachse - Google Patents

Sensitive roboter durch sensorik vor der ersten roboterachse Download PDF

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Publication number
WO2017080649A3
WO2017080649A3 PCT/EP2016/001858 EP2016001858W WO2017080649A3 WO 2017080649 A3 WO2017080649 A3 WO 2017080649A3 EP 2016001858 W EP2016001858 W EP 2016001858W WO 2017080649 A3 WO2017080649 A3 WO 2017080649A3
Authority
WO
WIPO (PCT)
Prior art keywords
torques
forces
target
arranged before
sensor technology
Prior art date
Application number
PCT/EP2016/001858
Other languages
English (en)
French (fr)
Other versions
WO2017080649A2 (de
Inventor
Andreas Keibel
Original Assignee
Kuka Roboter 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 Kuka Roboter Gmbh filed Critical Kuka Roboter Gmbh
Publication of WO2017080649A2 publication Critical patent/WO2017080649A2/de
Publication of WO2017080649A3 publication Critical patent/WO2017080649A3/de

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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • G05B2219/40201—Detect contact, collision with human
    • 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
    • G05B2219/40559—Collision between hand and workpiece, 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40582—Force sensor in robot fixture, base
    • 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
    • G05B2219/40586—6-DOF force sensor

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

Die vorliegende Erfindung betrifft ein Robotersystem, welcher sich vorteilhaft für den Einsatz in Mensch-Roboter- Kollaboration eignet. Das Robotersystem weist einen mehrachsigen Manipulator, eine Sensoranordnung und eine Modelliervorrichtung auf. Der mehrachsige Manipulator ist dabei vorzugsweise in Form eines mehrachsigen Gelenkarmroboters ausgebildet. Die Sensoranordnung ist zum Erfassen von Kräften und Drehmomenten eingerichtet, während die Modelliervorrichtung zum Modellieren von Soll-Kräften und Soll-Drehmomenten eingerichtet ist. Basierend auf den erfassten Kräften und Drehmomenten und den modellierten Soll- Kräften und Soll- Drehmomenten kann vorteilhaft eine Kollisionsüberwachung des Manipulators durchgeführt werden.
PCT/EP2016/001858 2015-11-11 2016-11-09 Sensitive roboter durch sensorik vor der ersten roboterachse WO2017080649A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015222166.0A DE102015222166A1 (de) 2015-11-11 2015-11-11 Sensitive Roboter durch Sensorik vor der ersten Roboterachse
DE102015222166.0 2015-11-11

Publications (2)

Publication Number Publication Date
WO2017080649A2 WO2017080649A2 (de) 2017-05-18
WO2017080649A3 true WO2017080649A3 (de) 2017-07-13

Family

ID=57348627

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/001858 WO2017080649A2 (de) 2015-11-11 2016-11-09 Sensitive roboter durch sensorik vor der ersten roboterachse

Country Status (2)

Country Link
DE (1) DE102015222166A1 (de)
WO (1) WO2017080649A2 (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018004947B3 (de) 2018-06-22 2019-07-18 Sew-Eurodrive Gmbh & Co Kg Verfahren zur Steuerung von Antrieben eines Roboters und Robotersystem
CN109773785A (zh) * 2018-12-29 2019-05-21 南京埃斯顿机器人工程有限公司 一种工业机器人防碰撞方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007060682A1 (de) * 2007-12-17 2009-06-25 Kuka Roboter Gmbh Verfahren und Vorrichtung zur modellbasierten Regelung eines Manipulators
DE102009047033A1 (de) * 2009-11-24 2011-05-26 Robert Bosch Gmbh System und Verfahren zur Kollisionserkennung bei Fertigungs- oder Montageautomaten

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5941083B2 (ja) * 2014-03-12 2016-06-29 ファナック株式会社 外部環境との接触を検知するロボット制御装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007060682A1 (de) * 2007-12-17 2009-06-25 Kuka Roboter Gmbh Verfahren und Vorrichtung zur modellbasierten Regelung eines Manipulators
DE102009047033A1 (de) * 2009-11-24 2011-05-26 Robert Bosch Gmbh System und Verfahren zur Kollisionserkennung bei Fertigungs- oder Montageautomaten

Also Published As

Publication number Publication date
WO2017080649A2 (de) 2017-05-18
DE102015222166A1 (de) 2017-05-11

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