WO2019052971A1 - Dispositif et procédé permettant la mise en œuvre automatique d'une étape de montage dans une cage d'ascenseur - Google Patents

Dispositif et procédé permettant la mise en œuvre automatique d'une étape de montage dans une cage d'ascenseur Download PDF

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Publication number
WO2019052971A1
WO2019052971A1 PCT/EP2018/074359 EP2018074359W WO2019052971A1 WO 2019052971 A1 WO2019052971 A1 WO 2019052971A1 EP 2018074359 W EP2018074359 W EP 2018074359W WO 2019052971 A1 WO2019052971 A1 WO 2019052971A1
Authority
WO
WIPO (PCT)
Prior art keywords
mounting direction
tool
mounting
feed
assembly
Prior art date
Application number
PCT/EP2018/074359
Other languages
German (de)
English (en)
Inventor
Andrea CAMBRUZZI
Erich Bütler
Philipp Zimmerli
Raphael Bitzi
Original Assignee
Inventio 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 Inventio Ag filed Critical Inventio Ag
Publication of WO2019052971A1 publication Critical patent/WO2019052971A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B19/00—Mining-hoist operation
    • 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
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • G05B2219/39321—Force control as function of position of tool
    • 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
    • G05B2219/39322—Force and position control
    • 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
    • G05B2219/39338—Impedance control, also mechanical
    • 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
    • G05B2219/39339—Admittance control, admittance is tip speed-force
    • 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
    • G05B2219/39346—Workspace impedance control
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45014—Elevator, lift
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45059—Drilling robot

Definitions

  • the invention relates to a device for automatically performing a
  • Elevator shaft according to the preamble of claim 8.
  • WO 2017/016782 A1 describes a mounting device for carrying out an installation process in an elevator shaft of an elevator installation.
  • Mounting device has a mechatronic installation component in the form of an industrial robot.
  • the installation component is designed to be a
  • Assembly step as part of the installation process at least partially automatic.
  • a drilling device with a drill can be arranged on the installation component. During drilling, the drilling device is moved by the installation component in a mounting direction towards the shaft wall.
  • the installation component of WO 2017/016782 AI can thus also be used as a
  • Shaft walls of elevator shafts are usually made of concrete, ie of an inhomogeneous material that contains air holes, stones and reinforcements.
  • the feed while drilling a borehole in a shaft wall can thus not always be the same size, it must be particularly low when the drill meets a stone or a reinforcement in the concrete.
  • Feed rate during drilling can thus lead to unacceptably high feed forces. This could be remedied by setting a very low feed rate. However, drilling the holes would take a long time.
  • the feed force could be adjusted to a desired value.
  • the feed force would have to be measured.
  • an additional component would be necessary, which causes costs, requires space and can lead to failures of the additional component.
  • drilling especially with a hammer drill punches and accelerations, which can complicate a correct force measurement.
  • this object is achieved by a device having the features of claim 1 and a method having the features of claim 8.
  • Assembly step in an elevator shaft has an assembly tool and a feed device.
  • the feed device is designed and arranged so that it the mounting tool under application of a feed force in one
  • the device has a control device which is provided to determine an actual position of the mounting tool in the mounting direction and to specify a desired position of the mounting tool in the mounting direction. It is also intended to control the feed device so that between the feed force and a difference between the desired position and actual position of
  • Mounting tool in the mounting direction is a linear relationship and specify the desired position of the mounting tool in the mounting direction so as to give a desired feed force.
  • the desired feed force is thus set via a simple specification of the desired position of the assembly tool.
  • Control device can determine the necessary for the desired feed force target position in a simple manner from the actual position of the mounting tool and said linear relationship between feed force and difference between the desired position and actual position of the mounting tool in the mounting direction.
  • the controller has all the necessary information.
  • the described embodiment of the control device thus enables an adjustment or regulation of the feed force without the use of a force sensor.
  • the device according to the invention is therefore particularly cost-effective and robust.
  • boreholes may be drilled in a shaft wall of the hoistway.
  • the boreholes are used in particular for fastening so-called shaft material, for example so-called rail brackets, by means of which guide rails can be fixed in the elevator shaft.
  • so-called anchor bolts can be hammered into the boreholes.
  • an anchor bolt has a thread on which a nut can be screwed and thus, for example, a rail bracket can be fixed with a through hole.
  • the assembly tool may in particular be designed as a drilling device for drilling a borehole and especially as a hammer drill, which is attached via a special holder on the feed device.
  • the assembly tool can also be designed in particular as a wrapping device for driving an anchor bolt.
  • the impactor can be performed, for example, similar to a hammer drill without rotary drive. Although it is also possible for the impactor to have a rotary drive, an attachment of the impactor does not transmit a rotary motion transmitted to it to an attached anchor bolt.
  • the feed device has at least one actuator, in particular in the form an electric motor by means of which the feed device can move the mounting tool in the mounting direction.
  • the mounting direction is straight and runs in particular perpendicular and in the direction of the shaft wall into which the borehole drilled or the anchor bolt to be taken.
  • the feed device presses the assembly tool when performing the assembly step so with the feed force against the shaft wall.
  • the feed device can adjust or regulate the feed force by a corresponding control or regulation of the actuator or the actuators.
  • the feed device is designed, in particular, as an industrial robot with a plurality of electric motors, to which various tools or devices can be coupled via a quick-change connection.
  • the feed device is designed in particular according to an installation component of WO 2017/016782 AI.
  • the rectilinear movement of the mounting tool in the mounting direction is achieved in this case by a corresponding control of the various electric motors of the industrial robot.
  • the feed device has only one actuator, which exclusively a movement of the mounting tool in and against the
  • control device of the device according to the invention can be designed in one or more parts. It can therefore consist of only a single control device or of a plurality of control devices which are interconnected in
  • the feed device that is to say in particular the industrial robot, may have its own control device, which receives instructions from a higher-level control device.
  • the control device determines the position of the assembly tool in
  • Assembly direction in particular from the or the positions of their actuators.
  • absolute or incremental position sensors are arranged on the actuators, which are required for the control of the feed device. From the position of the actuators can be closed to the position of the mounting tool. Under the position of the mounting tool while the position of a component of the assembly tool, ie For example, the position of a drill bit or a drill chuck are understood.
  • the control device indicates the desired position of the assembly tool
  • control device Mounting direction before.
  • the specification is carried out in particular by a higher-level control device which transmits the desired position to the control device of the feed device, ie in particular the industrial robot, which then processes the desired position.
  • the control device controls the feed device so that between the feed force and a difference between the desired position and the actual position of the
  • Mounting tool in the mounting direction is a linear relationship.
  • Mounting tool in mounting direction thus leads to a proportional change in the feed force.
  • the feed force is greater especially with increasing difference.
  • the feed force is proportional to the difference between the desired position and actual position of the mounting tool in the mounting direction.
  • the feed device in particular the industrial robot reacts like a spring, said difference between the desired position and actual position of the mounting tool in the mounting direction can be regarded as a deflection of the spring.
  • This control is carried out in particular by the control device of
  • Feed device this type of control is integrated and activated as a possible mode of the feed device, ie in particular the industrial robot.
  • This operating mode is referred to as a SoftMove mode by a manufacturer of industrial robots, for example. Is this mode or this mode of the
  • control device of the industrial robot automatically adjusts a feed force proportional to the difference between the desired position and actual position of the mounting tool in the mounting direction.
  • the control device predetermines the desired position of the assembly tool in the mounting direction such that a desired feed force results.
  • the desired feed force can in particular be between 5 and 200 N, that is, for example, 50 N.
  • the control device knows the linear relationship between the feed force FD in [N] and the Difference d in [mm] between nominal position and actual position of the assembly tool in the mounting direction, ie, for example
  • control device determines the difference d required for the desired feed force F D, in this example in this example 5 mm.
  • the control device Based on the actual position of the assembly tool in the mounting direction, the control device can thus very easily the required desired position of the
  • control device is provided to specify the desired position of the mounting tool in the mounting direction so that there is an at least partially constant, definable difference between the desired position and actual position of the mounting tool in the mounting direction. This results in an at least partially constant feed force, which allows a particularly effective drilling of boreholes.
  • a damper is arranged between the feed device and assembly tool.
  • the damper dampens when drilling the holes or when driving the anchor bolt occurring shocks and vibrations, which on the one hand protects the feed device from damage and also allows accurate adjustment of the feed force.
  • the damper in particular has one or more rubber buffers.
  • inventive method is an assembly tool of a
  • Feed device moves under application of a feed force in a mounting direction. According to the invention, an actual position of the assembly tool in
  • the feed force is adjusted so that between the Feed force and a difference between nominal position and actual position of the
  • Mounting tool in the mounting direction is a linear relationship and the target position of the mounting tool in the mounting direction is set so that there is a desired feed force.
  • the desired position of the mounting tool in the mounting direction is set so that there is an at least partially constant, definable difference between the desired position and actual position of the mounting tool in the mounting direction.
  • the feed force is proportional to the difference between the desired position and actual position of the mounting tool in the mounting direction.
  • the assembly step is carried out as drilling a borehole with a drill into a shaft wall of the hoistway.
  • the drilling of the borehole is first carried out in a normal mode in which the desired position of the drill and the feed force is adjusted according to the method described above. If an impact of the drill on a reinforcement is detected, it is at least temporarily changed to a reinforcement mode.
  • the impact of the drill on a reinforcement can be determined, for example, by an actuating current of the assembly tool exceeding a threshold value. It can also be determined, for example, that a feed is smaller than a limit value.
  • Feed force and / or the feed of the assembly tool can thus be carried out in a different manner than described above.
  • Cooling phase to be changed In the drilling phase, the feed force and / or the feed of the assembly tool can be carried out as in the normal phase. But it is also a lower feed force and / or a lower feed of the assembly tool conceivable.
  • the drill In the cooling phase, the drill is not pressed against the reinforcement, so that the drill can cool down.
  • the drill At the beginning of the cooling phase, the drill can also be pulled back a bit or completely out of the drill hole. For example, the drilling phase lasts only a few seconds, especially 5-20 seconds.
  • Cooling phase in particular lasts longer than the drilling phase, for example 15-100 seconds.
  • the times can also be shorter or longer, and in particular the ratio between drilling and cooling remains approximately the same. For example, it takes about 3 - 5 seconds to cool for 1 second of drilling.
  • the drill can be actively cooled, especially in the cooling phase. For this purpose, it can be pulled out of the borehole, for example, and subjected to an air jet, in particular compressed air.
  • the drill can also be embodied as an internally cooled drill, to which cooling fluid, in particular compressed air, is supplied continuously or only in cooling phases.
  • the active cooling allows a particularly effective cooling of the drill and thus an effective protection against overheating.
  • Actuating current of the assembly tool or the feed can be determined, is changed back to the normal mode.
  • a drill encounters a reinforcement, it can also cause the drill to get stuck and not be easily removed from the hole.
  • the drill can be pulled out of the borehole as a first measure when detecting an impact on a reinforcement as a first measure. If it nevertheless comes to a sticking of the drill, one direction of rotation of the drill so as to allow removal from the wellbore.
  • a drill that has been struck on a reinforcement or has drilled a reinforcement may be replaced by another, particularly new, drill before drilling a new hole.
  • the assembly step is as a hammering a
  • Anchor bolt executed in a wellbore in a shaft wall of the elevator shaft.
  • Fig. 1 shows an apparatus for automated drilling of boreholes in a
  • Fig. 2 is an impact device for driving an anchor bolt in a
  • an apparatus 10 for the automated drilling of boreholes has a feed device in the form of an industrial robot 11, which has only two joints 12 in this simplified representation.
  • the industrial robot 11 is controlled by a control device in the form of a robot controller 13, so that it can approach different positions in a controlled manner and can execute predetermined movements, in particular also rectilinear movements.
  • the structure and operation of industrial robots and robot controllers are well known, so they will not be discussed here.
  • the device 10 can
  • a support component of a mounting device according to WO 2017/016782 AI.
  • a robot-side, first quick-change connection 14 of a quick-change system is arranged, which with a tool-side, second
  • Quick change port 15 cooperates.
  • the second quick change port 15 is mainly hollow cylindrical and has an inner circumferential groove 16, in the connected via a cage not shown on the first quick change port 14 balls 17 can engage.
  • the first quick-change connection 14 also has a compressed-air-actuated punch 18, which in the direction of the second
  • Quick change port 15 can be extended and retracted in the opposite direction.
  • the balls 17 When extending in the direction of the second quick-change connector 15, the balls 17 are pressed into the groove 16 of the second quick-change connector 15, thus producing a positive connection between the two quick-change connectors 14, 15 and thus between the robot arm 11 and the second quick-change connector 15.
  • connection is to be released again, the punch 18 is retracted again and the balls 17 can be moved back inwards and leave the groove 16.
  • the industrial robot 11 can then be moved away from the second quick-change connector 15 and disconnected from it.
  • the described connecting and disconnecting can be done fully automatically without the manual intervention of a worker or installer.
  • a damper 32 is arranged between the second quick-change connection 15 and a drilling device in the form of a percussion drill 45 with a drill 47.
  • the damper 32 has a total of six evenly distributed rubber buffer 33.
  • the damper 32 has a guide 39, which prevents deformation of the rubber buffer 33 transversely to a mounting direction 26.
  • the percussion drill 45 may be considered as an assembly tool.
  • the damper 32 is fixedly connected to an adapter element 43 on the side opposite the second quick-change connection 15.
  • the adapter element 43 has an inner contour, not shown, which is designed corresponding to a handle 44 of the percussion drill 45.
  • the adapter element 43 can be opened and closed again after the insertion of the percussion drill 45.
  • the percussion drill 45 can thus be immovably coupled to the adapter element 43, but it is also a change of the percussion drill possible.
  • the damper 32 is in the power flow between
  • Percussion drill 45 and the second quick change port 15 is arranged.
  • the device has no damper and / or that a specially adapted drilling device with the second quick-change closure connected is.
  • drill 47 In a drill chuck 46 of the impact drill 45 of aligned in the mounting direction 26 drill 47 is added.
  • a borehole 48 can be drilled into a shaft wall 49 of a hoistway 50.
  • a screw can be screwed in, and thus, for example, a rail bracket to the shaft wall 49 fixed in a later step.
  • the impact drill 45 is first moved by the industrial robot 11 to the correct position and subsequently in the mounting direction 26, ie in a rectilinear movement in the direction of the shaft wall 49.
  • the information about the correct position is obtained by the robot controller 13 from a higher-level control device 21.
  • Higher-level control device 21 together form a
  • Control device 22 of the device 10. The position is determined in particular so that the drill 47 does not hit a reinforcement 52. Subsequently, the higher-level control device 21 in the robot controller 13 activates a special operating mode in which a feed force of the industrial robot 11 in the mounting direction 26 is proportional to a difference between a desired position and an actual position of the impact drill 45 in the mounting direction 26. As a reference point, for example, the position of the drill chuck 46 can be used.
  • the robot controller 26 determines the actual position of the percussion drill 45 from the positions or positions of the joints 12 and the known relative position of the percussion drill 45 to the industrial robot 11 and sends this actual position to the higher-level control device 21.
  • the target position of the percussion drill 45, the robot controller 13 is predetermined by the higher-level control device 21 in such a way that a desired feed force from the industrial robot 11 to the impact drill 45 in the mounting direction 26 in the direction of the shaft wall 49 results.
  • the desired feed force may in particular be between 5 and 200 N, that is, for example, constant 50 N.
  • the higher-order control device 21 determines the difference d required for the desired feed force F D, in this example 5 mm in this example.
  • Control device 21 gets transmitted from the robot controller 13, it can thus determine the necessary for the desired feed force target position of the percussion drill 45 and the robot controller 13 pretend. This type of activation of the percussion drill 45 is referred to as a normal mode.
  • the higher-level control device 21 thus provides the robot controller 13 with the desired position of the percussion drill 45 in such a way that a constant difference between the setpoint position and the actual position of the percussion drill 45 in the mounting direction 26 results.
  • the movement of the hammer drill 45 is stopped in the mounting direction 26 and then the percussion drill 45 moves against the mounting direction 26, so the drill 47 pulled out of the well 48.
  • the drilling of the well 48 is completed and it can be drilled, for example, another hole in the shaft wall 49.
  • the control device 21 changes over to a reinforcement mode.
  • the impingement on a reinforcement 52 is recognized, for example, by the fact that an actuating current of the impact drill 45 exceeds a threshold value.
  • the industrial robot 11 can turn off the percussion drill 45 in a holder, not shown, and via the first quick-change connection 14 another mounting tool, for example, an impactor 145 shown in Fig. 2 for driving an anchor bolt into a borehole.
  • the wrapping device 145 is fundamentally constructed like a percussion drill, but does not set a cap 147 accommodated in a chuck 146 in rotation, but merely in an assembly direction 126 in the direction
  • the attachment 147 has a receptacle not shown in detail in the form of a recess into which an anchor bolt 151 is received.
  • the attachment 147 and the anchor bolt 151 are aligned in the mounting direction 126.
  • a magnet may be arranged, which facilitates the receiving and holding the anchor bolt 151.
  • the impact of the anchor bolt 151 in the wellbore 48 is carried out analogously to the above-described drilling of the borehole with the percussion drill 45th

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)

Abstract

L'invention concerne un dispositif (10) muni d'un outil de montage (45) et d'un dispositif d'avance (11). Le dispositif d'avance (11) est conçu et agencé de telle manière qu'il peut déplacer l'outil de montage (45) en appliquant une force d'avance dans une direction de montage (26). Un dispositif de commande (22) est conçu pour déterminer une position réelle de l'outil de montage (45) dans la direction de montage (26), et pour spécifier une position de consigne de l'outil de montage (45) dans la direction de montage (26). Il est en outre conçu pour activer le dispositif d'avance (11) de telle manière qu'il existe une relation linéaire entre la force d'avance et une différence entre la position réelle et la position de consigne de l'outil de montage (45) dans la direction de montage (26), et pour spécifier la position de consigne de l'outil de montage (45) dans la direction de montage (26) de telle sorte qu'une force d'avance souhaitée soit produite.
PCT/EP2018/074359 2017-09-15 2018-09-11 Dispositif et procédé permettant la mise en œuvre automatique d'une étape de montage dans une cage d'ascenseur WO2019052971A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP17191352 2017-09-15
EP17191352.8 2017-09-15

Publications (1)

Publication Number Publication Date
WO2019052971A1 true WO2019052971A1 (fr) 2019-03-21

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PCT/EP2018/074359 WO2019052971A1 (fr) 2017-09-15 2018-09-11 Dispositif et procédé permettant la mise en œuvre automatique d'une étape de montage dans une cage d'ascenseur

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114559560A (zh) * 2020-11-27 2022-05-31 广东博智林机器人有限公司 打孔作业控制方法、装置和协作机器人

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5265195A (en) * 1990-02-27 1993-11-23 Kabushiki Kaisha Toshiba Control robot with different axial direction shafts
DE102012206503A1 (de) * 2012-04-19 2013-10-24 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zur Kraftregelung
US20150314441A1 (en) * 2014-04-30 2015-11-05 Fanuc Corporation Control device for performing flexible control of robot
US20160176046A1 (en) * 2014-12-23 2016-06-23 Kuka Roboter Gmbh Apparatus and Method for Recording Positions
WO2017016782A1 (fr) 2015-07-24 2017-02-02 Inventio Ag Dispositif de montage automatisé pour effectuer des installations dans une cage d'un ascenseur

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5265195A (en) * 1990-02-27 1993-11-23 Kabushiki Kaisha Toshiba Control robot with different axial direction shafts
DE102012206503A1 (de) * 2012-04-19 2013-10-24 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zur Kraftregelung
US20150314441A1 (en) * 2014-04-30 2015-11-05 Fanuc Corporation Control device for performing flexible control of robot
US20160176046A1 (en) * 2014-12-23 2016-06-23 Kuka Roboter Gmbh Apparatus and Method for Recording Positions
WO2017016782A1 (fr) 2015-07-24 2017-02-02 Inventio Ag Dispositif de montage automatisé pour effectuer des installations dans une cage d'un ascenseur

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114559560A (zh) * 2020-11-27 2022-05-31 广东博智林机器人有限公司 打孔作业控制方法、装置和协作机器人

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