WO2017220832A3 - Método de configuración de un robot - Google Patents

Método de configuración de un robot Download PDF

Info

Publication number
WO2017220832A3
WO2017220832A3 PCT/ES2017/070437 ES2017070437W WO2017220832A3 WO 2017220832 A3 WO2017220832 A3 WO 2017220832A3 ES 2017070437 W ES2017070437 W ES 2017070437W WO 2017220832 A3 WO2017220832 A3 WO 2017220832A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot
components
configuration method
location
same
Prior art date
Application number
PCT/ES2017/070437
Other languages
English (en)
French (fr)
Other versions
WO2017220832A2 (es
Inventor
Victor MAYORAL VILCHES
Original Assignee
Erle Robotics, S.L.
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 Erle Robotics, S.L. filed Critical Erle Robotics, S.L.
Publication of WO2017220832A2 publication Critical patent/WO2017220832A2/es
Publication of WO2017220832A3 publication Critical patent/WO2017220832A3/es

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
    • B25J9/1694—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
    • 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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • 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
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37388—Acceleration or deceleration, inertial measurement
    • 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
    • G05B2219/40302—Dynamically reconfigurable robot, adapt structure to tasks, cellular robot, cebot
    • 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
    • G05B2219/40304—Modular structure

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)

Abstract

Se describe de forma detallada, y con la inclusión de un ejemplo de implementación de la correspondiente invención, un método que permite llevar a cabo la configuración de robots a partir de sus distintos componentes. Para llevar a cabo dicho método se hace uso de datos inerciales que se captan mediante, o se encuentran definidos en, elementos insertados en cada uno de los distintos componentes que configuran el robot. A partir de dichos datos se hace posible determinar la ubicación de cada uno de los componentes así como sus distintas capacidades, lo cual permite la reconfiguración de un robot cuando se inserta o elimina un componente del mismo. El objeto de la invención también permite generar un mapa físico del robot a partir de los datos de ubicación de cada uno de los componentes.
PCT/ES2017/070437 2016-06-20 2017-06-15 Método de configuración de un robot WO2017220832A2 (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES201630834A ES2661067B1 (es) 2016-06-20 2016-06-20 Metodo de determinacion de configuracion de un robot modular
ESP201630834 2016-06-20

Publications (2)

Publication Number Publication Date
WO2017220832A2 WO2017220832A2 (es) 2017-12-28
WO2017220832A3 true WO2017220832A3 (es) 2018-02-22

Family

ID=59656089

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2017/070437 WO2017220832A2 (es) 2016-06-20 2017-06-15 Método de configuración de un robot

Country Status (2)

Country Link
ES (1) ES2661067B1 (es)
WO (1) WO2017220832A2 (es)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201900024481A1 (it) 2019-12-18 2021-06-18 Fondazione St Italiano Tecnologia Robot modulare configurabile, procedimento e prodotto informatico corrispondenti

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030178964A1 (en) * 2003-04-07 2003-09-25 The Boeing Company Low cost robot manipulator
US20120150348A1 (en) * 2010-12-13 2012-06-14 Samsung Electronics Co., Ltd. Method for estimating connection orders of modules of modular robot
WO2013033354A2 (en) * 2011-08-30 2013-03-07 5D Robotics, Inc Universal payload abstraction

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4225112C1 (de) 1992-07-30 1993-12-09 Bodenseewerk Geraetetech Einrichtung zum Messen der Position eines Instruments relativ zu einem Behandlungsobjekt

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030178964A1 (en) * 2003-04-07 2003-09-25 The Boeing Company Low cost robot manipulator
US20120150348A1 (en) * 2010-12-13 2012-06-14 Samsung Electronics Co., Ltd. Method for estimating connection orders of modules of modular robot
WO2013033354A2 (en) * 2011-08-30 2013-03-07 5D Robotics, Inc Universal payload abstraction

Also Published As

Publication number Publication date
WO2017220832A2 (es) 2017-12-28
ES2661067B1 (es) 2019-01-16
ES2661067A1 (es) 2018-03-27

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