[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

SG11201909831QA - Robot and method for controlling a robot - Google Patents

Robot and method for controlling a robot

Info

Publication number
SG11201909831QA
SG11201909831QA SG11201909831QA SG11201909831QA SG 11201909831Q A SG11201909831Q A SG 11201909831QA SG 11201909831Q A SG11201909831Q A SG 11201909831QA SG 11201909831Q A SG11201909831Q A SG 11201909831QA
Authority
SG
Singapore
Prior art keywords
robot
controlling
Prior art date
Application number
Other languages
English (en)
Inventor
Sven Parusel
Simon Haddadin
Niklas Böhme
Tim Rokahr
Original Assignee
Franka Emika 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 Franka Emika Gmbh filed Critical Franka Emika Gmbh
Publication of SG11201909831QA publication Critical patent/SG11201909831QA/en

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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • 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
    • 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
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • 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
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
    • B25J15/0666—Other types, e.g. pins or springs
    • 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
    • B25J9/1674—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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/0486—Drag-and-drop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • 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
    • G05B2219/39466—Hand, gripper, end effector of manipulator
    • 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
    • G05B2219/39514—Stability of grasped objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
SG11201909831Q 2017-04-23 2018-04-18 Robot and method for controlling a robot SG11201909831QA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017003899 2017-04-23
PCT/EP2018/059883 WO2018197295A1 (de) 2017-04-23 2018-04-18 Roboter und verfahren zur steuerung eines roboters

Publications (1)

Publication Number Publication Date
SG11201909831QA true SG11201909831QA (en) 2019-11-28

Family

ID=62027991

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201909831Q SG11201909831QA (en) 2017-04-23 2018-04-18 Robot and method for controlling a robot

Country Status (8)

Country Link
US (1) US11420333B2 (ja)
EP (1) EP3615280A1 (ja)
JP (1) JP7039056B2 (ja)
KR (1) KR102383897B1 (ja)
CN (1) CN110536782A (ja)
DE (1) DE102017118983B4 (ja)
SG (1) SG11201909831QA (ja)
WO (1) WO2018197295A1 (ja)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019129417B4 (de) * 2019-10-31 2022-03-24 Sick Ag Verfahren zum automatischen Handhaben von Objekten
WO2023276041A1 (ja) * 2021-06-30 2023-01-05 株式会社Fuji 張り付き解消装置
CN114055461B (zh) * 2021-08-20 2023-02-14 华中科技大学 基于肌电接口的机器人力位同步遥操作控制方法及装置
CN114571451B (zh) * 2022-02-25 2023-08-22 山东新一代信息产业技术研究院有限公司 一种可调漏斗边界的自适应滑模控制方法及设备

Family Cites Families (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0521233A (ja) 1991-07-16 1993-01-29 Tokyo Electric Co Ltd トロイド装置
JPH0542491A (ja) 1991-08-15 1993-02-23 Fanuc Ltd 磁気吸着ワーク屑の取外し装置
JPH08497U (ja) * 1993-03-31 1996-03-12 株式会社タチエス 部品セット用ハンドリングユニット
JPH0724665A (ja) 1993-07-05 1995-01-27 Yamatake Honeywell Co Ltd 自動組立装置
JP3079921B2 (ja) 1994-11-28 2000-08-21 松下電器産業株式会社 半田ボールの搭載装置および搭載方法
JP3376876B2 (ja) 1997-09-09 2003-02-10 松下電器産業株式会社 導電性ボールの移載装置および移載方法
JP2001024399A (ja) 1999-07-09 2001-01-26 Tenryu Technics Co Ltd 表面実装部品装着機の遠隔操作メンテナンスシステム
JP2001156498A (ja) 1999-11-30 2001-06-08 Yamaha Motor Co Ltd 表面実装部品装着機における持ち帰り電子部品の検出方法
JP4739556B2 (ja) 2001-03-27 2011-08-03 株式会社安川電機 制御対象の遠隔調整及び異常判断装置
JP4082939B2 (ja) 2002-06-21 2008-04-30 富士通株式会社 環境負荷評価システム及び環境負荷評価方法
JP2004042230A (ja) 2002-07-15 2004-02-12 Kawasaki Heavy Ind Ltd ロボットコントローラの遠隔操作方法および遠隔操作システム
JP4559101B2 (ja) * 2004-03-16 2010-10-06 株式会社日立ハイテクインスツルメンツ 電子部品装着装置
JP4242328B2 (ja) * 2004-08-23 2009-03-25 パナソニック株式会社 部品実装機およびその部品回収方法
DE202005004456U1 (de) 2005-03-11 2005-07-14 J. Schmalz Gmbh Greifvorrichtung
DE102005017084A1 (de) 2005-04-09 2006-10-12 Asl Automationssysteme Leske Gmbh Vorrichtung zum Aufnehmen und Halten von Werkstücken
JP5371882B2 (ja) 2010-05-13 2013-12-18 三菱電機株式会社 力制御装置
US8931207B2 (en) * 2010-06-30 2015-01-13 Weyerhaeuser Nr Company Pick-up and delivery system and associated methods
DE102011007958B4 (de) 2011-01-05 2013-03-28 Autoloader Gmbh Gepäckstückverladesystem und -verfahren
JP5858675B2 (ja) 2011-07-29 2016-02-10 富士機械製造株式会社 部品実装ライン
US9014850B2 (en) * 2012-01-13 2015-04-21 Toyota Motor Engineering & Manufacturing North America, Inc. Methods and computer-program products for evaluating grasp patterns, and robots incorporating the same
JP2013166234A (ja) 2012-01-20 2013-08-29 Nagasaki Prefecture 高脆性部材の自動配列装置及び配列方法
JP5929271B2 (ja) * 2012-02-07 2016-06-01 セイコーエプソン株式会社 ロボットハンドおよびロボット
DE102012006502A1 (de) 2012-03-29 2013-10-02 Dula-Werke Dustmann & Co. Gmbh Verfahren zum mehrstufigen Schleifen von Werkstücken, sowie Vakuumtisch, Vorratsbehälter, Abstreifeinrichtung und Anlage zur Durchführung des Verfahrens
EP2708335A1 (de) 2012-09-14 2014-03-19 Knapp AG Hochgeschwindigkeits-Greiferwechselsystem
JP2014144522A (ja) 2013-01-30 2014-08-14 Seiko Epson Corp 制御装置、制御方法、ロボット及びロボットシステム
DE102013003768B4 (de) 2013-02-18 2015-04-02 Grenzebach Maschinenbau Gmbh Verfahren und Vorrichtung zum Aufnehmen horizontal gelagerter Kommissionsware
WO2014152329A1 (en) 2013-03-14 2014-09-25 Siemens Healthcare Diagnostics Inc. Tube tray vision system
WO2015069709A1 (en) * 2013-11-06 2015-05-14 Abb Technology Ag Method and apparatus for using vibration to release parts held by a robotic gripper
DE102014202145A1 (de) * 2014-02-06 2015-08-06 Kuka Roboter Gmbh Verfahren zum Programmieren eines Industrieroboters und zugehörigerIndustrieroboter
JP6581189B2 (ja) 2015-05-27 2019-09-25 株式会社Ｆｕｊｉ 実装装置
DE102015009048B3 (de) 2015-07-13 2016-08-18 Kuka Roboter Gmbh Steuern eines nachgiebig geregelten Roboters
JP6756539B2 (ja) * 2016-08-04 2020-09-16 オークマ株式会社 工作機械

Also Published As

Publication number Publication date
JP7039056B2 (ja) 2022-03-22
KR20200002971A (ko) 2020-01-08
CN110536782A (zh) 2019-12-03
WO2018197295A1 (de) 2018-11-01
EP3615280A1 (de) 2020-03-04
US20200384651A1 (en) 2020-12-10
JP2020517476A (ja) 2020-06-18
DE102017118983A1 (de) 2018-10-25
KR102383897B1 (ko) 2022-04-08
US11420333B2 (en) 2022-08-23
DE102017118983B4 (de) 2019-10-02

Similar Documents

Publication Publication Date Title
GB2570373B (en) Control device and method for a robot system
SG11201802801XA (en) Robot system and method for controlling a robot system
PL3017920T3 (pl) Robot przemysłowy i sposób sterowania robotem przemysłowym
AU2018296142A1 (en) Crane and method for controlling such a crane
EP3486039A4 (en) ROBOT AND ROBOT CONTROL METHOD
GB2571821B (en) A controller and method for transporting devices
EP3585571A4 (en) MOBILE ROBOT AND CONTROL PROCEDURE FOR IT
EP3970590C0 (en) CONTROL METHOD AND DEVICE OF A SUCTION ROBOT
EP3656514A4 (en) WORK ROBOT AND METHOD FOR CONTROLLING A WORK ROBOT
EP3687745A4 (en) MOBILE ROBOT AND ORDERING PROCEDURE
GB201609572D0 (en) Smartcard and method for controlling a smartcard
GB2538779B (en) A method of controlling a mobile robot
EP3683022A4 (en) DEVICE AND PROCEDURE FOR CONTROLLING A COOPERATIVE ROBOT
EP3354418C0 (en) ROBOT CONTROL METHOD AND APPARATUS
EP3684563A4 (en) MOVING ROBOTS AND CONTROL PROCEDURES FOR IT
GB201709738D0 (en) Smartcard and method for controlling a smartcard
HK1231576A1 (zh) 種機器人系統及其控制方法
EP3294101A4 (en) Robot and controlling method thereof
PL3721213T3 (pl) Sposób i urządzenie do sterowania procesem formowania
GB201602371D0 (en) Smartcard and method for controlling a smartcard
PT3655169T (pt) Robô de pintura autónomo e processo de controlo
EP3556522A4 (en) ROBOT CONTROL METHOD
EP3419491A4 (en) MOBILE ROBOT AND CONTROL METHOD THEREFOR
EP3299922A4 (en) Robot device and movement control method for robot device
EP3576298A4 (en) ROBOT CONTROL METHOD