DK3037905T3 - Apparat og fremgangsmåde til optagelse af positioner - Google Patents
Apparat og fremgangsmåde til optagelse af positioner Download PDFInfo
- Publication number
- DK3037905T3 DK3037905T3 DK15195438.5T DK15195438T DK3037905T3 DK 3037905 T3 DK3037905 T3 DK 3037905T3 DK 15195438 T DK15195438 T DK 15195438T DK 3037905 T3 DK3037905 T3 DK 3037905T3
- Authority
- DK
- Denmark
- Prior art keywords
- recording positions
- recording
- positions
- Prior art date
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
- B25J9/1628—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
-
- 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
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
-
- 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
- G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
-
- 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
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36425—Move manually, touch surface, record position
-
- 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
- G05B2219/39319—Force control, force as reference, active compliance
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014226933.4A DE102014226933B3 (de) | 2014-12-23 | 2014-12-23 | Vorrichtung und Verfahren zum Aufnehmen von Positionen |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DK3037905T3 true DK3037905T3 (da) | 2020-06-15 |
Family
ID=54695529
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DK15195438.5T DK3037905T3 (da) | 2014-12-23 | 2015-11-19 | Apparat og fremgangsmåde til optagelse af positioner |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US9815196B2 (da) |
| EP (1) | EP3037905B1 (da) |
| KR (1) | KR101879025B1 (da) |
| CN (1) | CN105717870B (da) |
| DE (1) | DE102014226933B3 (da) |
| DK (1) | DK3037905T3 (da) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10035269B2 (en) * | 2015-09-16 | 2018-07-31 | The Boeing Company | Enhanced robotic teaching tool |
| JP6348141B2 (ja) * | 2016-04-28 | 2018-06-27 | ファナック株式会社 | 付加軸の状態が含まれる動作プログラムを表示するロボットの制御装置 |
| DE102016210060A1 (de) * | 2016-06-08 | 2017-12-14 | Kuka Roboter Gmbh | Verfahren zum sicheren Stillsetzen eines Manipulators |
| US10207404B2 (en) | 2017-02-09 | 2019-02-19 | X Development Llc | Generating a robot control policy from demonstrations collected via kinesthetic teaching of a robot |
| EP3622439B1 (en) * | 2017-09-15 | 2022-08-03 | Google LLC | Improvements related to generating a robot control policy from demonstrations collected via kinesthetic teaching of a robot |
| WO2019052971A1 (de) * | 2017-09-15 | 2019-03-21 | Inventio Ag | Vorrichtung und verfahren zum automatisierten durchführen eines montageschritts in einem aufzugschacht |
Family Cites Families (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4420812A (en) * | 1979-09-14 | 1983-12-13 | Tokico, Ltd. | Teaching- playback robot |
| JPS57113111A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
| US4403281A (en) * | 1981-04-03 | 1983-09-06 | Cincinnati Milacron Industries, Inc. | Apparatus for dynamically controlling the tool centerpoint of a robot arm off a predetermined path |
| US4694230A (en) * | 1986-03-11 | 1987-09-15 | Usa As Represented By The Secretary Of Commerce | Micromanipulator system |
| US5341459A (en) * | 1991-05-09 | 1994-08-23 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Generalized compliant motion primitive |
| JP3053501B2 (ja) * | 1992-10-20 | 2000-06-19 | ファナック株式会社 | ロボットの位置教示方法 |
| WO1997010080A1 (fr) | 1995-09-14 | 1997-03-20 | Kabushiki Kaisha Yaskawa Denki | Unite d'enseignement pour robots |
| JP3841439B2 (ja) | 1996-07-24 | 2006-11-01 | ファナック株式会社 | ロボットのジョグ送り方法 |
| JP2005066819A (ja) * | 2003-08-01 | 2005-03-17 | Koyama:Kk | 多関節型ロボット |
| WO2006093652A2 (en) * | 2005-02-25 | 2006-09-08 | Abb Research Ltd. | Method of and apparatus for automated path learning |
| JP4053550B2 (ja) * | 2005-05-27 | 2008-02-27 | ファナック株式会社 | 教示点を修正するための装置、プログラム、記録媒体及び方法 |
| US7558647B2 (en) * | 2006-01-13 | 2009-07-07 | Panasonic Corporation | Device and method for controlling robot arm, robot and program based on object-dependent impedance |
| JP4174517B2 (ja) * | 2006-03-13 | 2008-11-05 | ファナック株式会社 | 教示位置修正装置および教示位置修正方法 |
| DE102007062108A1 (de) * | 2007-12-21 | 2009-07-02 | Kuka Roboter Gmbh | Industrieroboter und Verfahren zum Programmieren eines Industrieroboters |
| EP2194434B1 (en) * | 2008-12-05 | 2012-05-30 | COMAU SpA | Robot system |
| JP4568795B2 (ja) * | 2009-01-09 | 2010-10-27 | パナソニック株式会社 | ロボットアームの制御装置及び制御方法、ロボット、ロボットアームの制御プログラム、並びに、集積電子回路 |
| WO2011018117A1 (en) * | 2009-08-14 | 2011-02-17 | Abb Technology Ab | An industrial robot and a method for adjusting a robot program |
| CN102802884B (zh) * | 2010-11-12 | 2015-04-08 | 松下电器产业株式会社 | 移动路径搜索装置及移动路径搜索方法 |
| JP6421171B2 (ja) * | 2013-03-15 | 2018-11-07 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | ゼロ空間を使用する経路を追従するためのシステム及び方法 |
| DE102014202145A1 (de) * | 2014-02-06 | 2015-08-06 | Kuka Roboter Gmbh | Verfahren zum Programmieren eines Industrieroboters und zugehörigerIndustrieroboter |
-
2014
- 2014-12-23 DE DE102014226933.4A patent/DE102014226933B3/de active Active
-
2015
- 2015-11-19 EP EP15195438.5A patent/EP3037905B1/de active Active
- 2015-11-19 DK DK15195438.5T patent/DK3037905T3/da active
- 2015-12-07 US US14/961,054 patent/US9815196B2/en active Active
- 2015-12-21 KR KR1020150183151A patent/KR101879025B1/ko active IP Right Grant
- 2015-12-23 CN CN201510976288.0A patent/CN105717870B/zh active Active
Also Published As
| Publication number | Publication date |
|---|---|
| EP3037905A1 (de) | 2016-06-29 |
| US20160176046A1 (en) | 2016-06-23 |
| CN105717870A (zh) | 2016-06-29 |
| KR101879025B1 (ko) | 2018-07-16 |
| DE102014226933B3 (de) | 2016-03-24 |
| EP3037905B1 (de) | 2020-03-11 |
| KR20160076985A (ko) | 2016-07-01 |
| CN105717870B (zh) | 2018-11-20 |
| US9815196B2 (en) | 2017-11-14 |
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