ATE424976T1 - Beschleunigungsmesser zur bewegungsregelung eines an einem roboter-endeffektor befestigten werkzeugs - Google Patents

Beschleunigungsmesser zur bewegungsregelung eines an einem roboter-endeffektor befestigten werkzeugs

Info

Publication number
ATE424976T1
ATE424976T1 AT05010949T AT05010949T ATE424976T1 AT E424976 T1 ATE424976 T1 AT E424976T1 AT 05010949 T AT05010949 T AT 05010949T AT 05010949 T AT05010949 T AT 05010949T AT E424976 T1 ATE424976 T1 AT E424976T1
Authority
AT
Austria
Prior art keywords
accelerometer
robot
end effector
robot end
motion control
Prior art date
Application number
AT05010949T
Other languages
English (en)
Inventor
George Zhang
Yun Quan Sun
Jian Jun Wang
Zhongxue Gan
Hui Zhang
Gregory F Rossano
Original Assignee
Abb Research Ltd
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 Abb Research Ltd filed Critical Abb Research Ltd
Application granted granted Critical
Publication of ATE424976T1 publication Critical patent/ATE424976T1/de

Links

Classifications

    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • 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
    • G05B2219/36433—Position assisted teaching
    • 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
    • G05B2219/36473—Prohibit teaching if force, speed, acceleration of end effector is out of safe range
    • 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
    • G05B2219/40549—Acceleration of end effector

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
AT05010949T 2005-05-20 2005-05-20 Beschleunigungsmesser zur bewegungsregelung eines an einem roboter-endeffektor befestigten werkzeugs ATE424976T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP05010949A EP1724072B1 (de) 2005-05-20 2005-05-20 Beschleunigungsmesser zur Bewegungsregelung eines an einem Roboter-Endeffektor befestigten Werkzeugs

Publications (1)

Publication Number Publication Date
ATE424976T1 true ATE424976T1 (de) 2009-03-15

Family

ID=34936742

Family Applications (1)

Application Number Title Priority Date Filing Date
AT05010949T ATE424976T1 (de) 2005-05-20 2005-05-20 Beschleunigungsmesser zur bewegungsregelung eines an einem roboter-endeffektor befestigten werkzeugs

Country Status (3)

Country Link
EP (1) EP1724072B1 (de)
AT (1) ATE424976T1 (de)
DE (1) DE602005013193D1 (de)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007026299B4 (de) * 2007-06-06 2018-08-16 Kuka Roboter Gmbh Industrieroboter und Verfahren zum Programmieren eines Industrieroboters
DE102008063680A1 (de) * 2008-10-10 2010-04-15 Abb Ag Verfahren zum Einlernen (Teachen) eines Industrieroboters sowie ein entsprechend ausgestatteter Industrieroboter
DE102008043360A1 (de) * 2008-10-31 2010-05-12 Kuka Roboter Gmbh Industrieroboter und Verfahren zum Programmieren eines Industrieroboters
AT509927B1 (de) * 2010-06-08 2015-05-15 Keba Ag Verfahren zum programmieren oder vorgeben von bewegungen oder abläufen eines industrieroboters
DE102010061949A1 (de) * 2010-11-25 2012-05-31 Siemens Aktiengesellschaft Verfahren und Anordnung zur Überwachung von motorisch bewegbaren Anlageteilen
DE102011003506A1 (de) 2011-02-02 2012-08-16 Kuka Roboter Gmbh Industrieroboter
JP6527655B2 (ja) * 2013-03-25 2019-06-05 株式会社デンソーウェーブ アームの操作方法及び操作装置
JP6527654B2 (ja) * 2013-03-25 2019-06-05 株式会社デンソーウェーブ アームの操作方法及び操作装置
DE102014004919B4 (de) 2014-04-07 2022-05-12 Abb Schweiz Ag Verfahren und Mittel zum Handhaben eines Objekts
JP6379853B2 (ja) 2014-08-22 2018-08-29 株式会社デンソーウェーブ ロボットの制御装置及び制御方法
ES2648295T3 (es) * 2014-11-07 2017-12-29 Comau S.P.A. Robot industrial y procedimiento de control de un robot industrial
DE102015200319A1 (de) * 2015-01-13 2016-07-14 Kuka Systems Gmbh Einmessverfahren aus Kombination von Vorpositionierung und Handführen
JP2017019057A (ja) * 2015-07-13 2017-01-26 セイコーエプソン株式会社 ロボット制御装置、ロボットおよびロボットシステム
DE102016000362A1 (de) * 2016-01-15 2017-07-20 Kuka Roboter Gmbh Roboteranordnung mit Handheld
CN105852892B (zh) * 2016-03-18 2019-07-16 东软医疗***股份有限公司 医疗影像***、驱动装置及驱动故障检测方法
CN107303636B (zh) * 2016-04-19 2019-06-14 泰科电子(上海)有限公司 基于机器人的自动装配***和自动装配方法
DE202016002733U1 (de) * 2016-04-22 2017-07-26 Kuka Roboter Gmbh Endeffektor-Vorrichtung
KR101898092B1 (ko) * 2016-06-17 2018-09-12 주식회사 뉴로메카 다자유도 로봇의 말단 제어를 위한 콘트롤러, 상기 콘트롤러를 이용한 다자유도 로봇 제어방법 및 이에 의해 동작하는 로봇
CN106142085A (zh) * 2016-08-04 2016-11-23 上海铼钠克数控科技股份有限公司 工业机器人的控制方法及控制***
DE102016222675C5 (de) * 2016-11-17 2022-03-31 Kuka Deutschland Gmbh Roboterbedienhandgerät, zugehörige Kopplungsvorrichtung, Roboter und Verfahren
IT201800005091A1 (it) 2018-05-04 2019-11-04 "Procedimento per monitorare lo stato di funzionamento di una stazione di lavorazione, relativo sistema di monitoraggio e prodotto informatico"
JP6836564B2 (ja) * 2018-10-05 2021-03-03 ファナック株式会社 センサブラケットおよびロボットシステム
FR3101564B1 (fr) * 2019-10-08 2023-07-28 Fts Welding Dispositif collaboratif à pilotage optimisé

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2705410C2 (de) * 1977-02-09 1985-06-13 Robert Bosch Gmbh, 7000 Stuttgart Vorrichtung zum Absaugen von Bohrklein an einer Handwerkzeugmaschine
US4367532A (en) 1979-10-12 1983-01-04 Nordson Corporation Manually programmable robot with power-assisted motion during programming
JPS5685106A (en) 1979-12-14 1981-07-11 Hitachi Ltd Robot teaching method
DE3240251A1 (de) 1982-10-30 1984-05-03 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Verfahren zum programmieren von bewegungen und erforderlichenfalls von bearbeitungskraeften bzw. -momenten eines roboters oder manipulators und einrichtung zu dessen durchfuehrung
SE8306520L (sv) * 1983-11-25 1985-05-26 Asea Ab Fluidflodesstyrning vid industrirobot
IT1239878B (it) * 1990-02-02 1993-11-15 Fiat Auto Spa Sistema per la rilevazione dei parametri di movimento di robot industriali e simili.
US5495410A (en) 1994-08-12 1996-02-27 Minnesota Mining And Manufacturing Company Lead-through robot programming system
KR100449429B1 (ko) 1995-09-14 2004-12-13 가부시키가이샤 야스가와덴끼 로봇의교시장치
US6385508B1 (en) 2000-10-31 2002-05-07 Fanuc Robotics North America, Inc. Lead-through teach handle assembly and method of teaching a robot assembly
US7181314B2 (en) 2003-11-24 2007-02-20 Abb Research Ltd. Industrial robot with controlled flexibility and simulated force for automated assembly

Also Published As

Publication number Publication date
EP1724072A1 (de) 2006-11-22
DE602005013193D1 (de) 2009-04-23
EP1724072B1 (de) 2009-03-11

Similar Documents

Publication Publication Date Title
ATE424976T1 (de) Beschleunigungsmesser zur bewegungsregelung eines an einem roboter-endeffektor befestigten werkzeugs
US9579798B2 (en) Human collaborative robot system
Griffin et al. Feedback strategies for telemanipulation with shared control of object handling forces
US10603798B2 (en) Robot
WO2009034962A1 (ja) パワーアシスト装置およびその制御方法
CN110186553B (zh) 振动分析装置以及振动分析方法
EP1936462A3 (de) Reinigungsroboter und Ansteuerungsverfahren dafür
EP2045049A3 (de) Zielpositionserkennungsvorrichtung für einen Roboter
CN104827473A (zh) 用于对工业机器人编程的方法和对应的工业机器人
JP2010524548A5 (de)
ATE449672T1 (de) Industrieroboter mit sensormitteln im bereich eines werkzeugflansches
WO2008094191A3 (en) Contact displacement actuator system
TW200505645A (en) Robot system
MX2009004509A (es) Estimacion de fuerza para un sistema quirurgico robotico minimamente invasivo.
EP2783811A3 (de) Robotersystem und Vorrichtung zur Steuerung des Robotersystems
WO2012021752A3 (en) Kickback detection method and apparatus
CA2473013A1 (en) Robot end effector detachment sensor
EP2489482A3 (de) Arbeitsauswahlsystem
EP2636491A3 (de) Kalibrierungsverfahren und Kalibrierungssystem für Roboter
EP2500150A3 (de) Elastische Vorrichtung für das Werkzeug am Ende des Arms eines Industrieroboters
DE602004025088D1 (de) Industrieroboter
CN105127976A (zh) 一种机器人
EP2743040A3 (de) Verfahren zur Bestimmung der Position des Zentrums eines an einem zusammenwirkenden Einspannkopf eingespannten Bearbeitungswerkzeugs und zusammenwirkender Einspannkopf
WO2013184592A3 (en) Fastener-driving tool including a fastening result detector
JP2004364396A (ja) モータの制御装置および制御方法

Legal Events

Date Code Title Description
RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties