DK3277467T3 - Fremgangsmåde til at styre en industrirobot ved berøring - Google Patents

Fremgangsmåde til at styre en industrirobot ved berøring Download PDF

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Publication number
DK3277467T3
DK3277467T3 DK15713476.8T DK15713476T DK3277467T3 DK 3277467 T3 DK3277467 T3 DK 3277467T3 DK 15713476 T DK15713476 T DK 15713476T DK 3277467 T3 DK3277467 T3 DK 3277467T3
Authority
DK
Denmark
Prior art keywords
touch
procedure
control
industrial robot
robot
Prior art date
Application number
DK15713476.8T
Other languages
English (en)
Inventor
Henrik Jerregård
Tomas Groth
Original Assignee
Abb Schweiz 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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=52781091&utm_source=***_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=DK3277467(T3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Abb Schweiz Ag filed Critical Abb Schweiz Ag
Application granted granted Critical
Publication of DK3277467T3 publication Critical patent/DK3277467T3/da

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
    • 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
    • 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
    • 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
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • 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
    • G05B2219/36418—Modify trajectory by operator gesture, gesture force sensed by end effector
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41387—Observe reference torque, position and feedback position, estimate contact force

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
DK15713476.8T 2015-03-31 2015-03-31 Fremgangsmåde til at styre en industrirobot ved berøring DK3277467T3 (da)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2015/056983 WO2016155787A1 (en) 2015-03-31 2015-03-31 A method for controlling an industrial robot by touch

Publications (1)

Publication Number Publication Date
DK3277467T3 true DK3277467T3 (da) 2020-07-27

Family

ID=52781091

Family Applications (1)

Application Number Title Priority Date Filing Date
DK15713476.8T DK3277467T3 (da) 2015-03-31 2015-03-31 Fremgangsmåde til at styre en industrirobot ved berøring

Country Status (5)

Country Link
US (1) US10150214B2 (da)
EP (1) EP3277467B1 (da)
CN (1) CN107438502B (da)
DK (1) DK3277467T3 (da)
WO (1) WO2016155787A1 (da)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015012959B4 (de) * 2015-10-08 2019-01-17 Franka Emika Gmbh Robotersystem und Verfahren zur Steuerung eines Robotersystems
JP7135437B2 (ja) * 2018-05-22 2022-09-13 セイコーエプソン株式会社 ロボットシステムの制御方法及びロボットシステム
CN108858199B (zh) * 2018-07-27 2020-04-07 中国科学院自动化研究所 基于视觉的服务机器人抓取目标物体的方法
CN114514091A (zh) * 2019-10-23 2022-05-17 Abb瑞士股份有限公司 机器人控制方法和装置
CN113442111B (zh) * 2020-03-27 2022-07-12 北京配天技术有限公司 机器人及其力矩补偿方法
CN115916488A (zh) * 2020-06-16 2023-04-04 发那科株式会社 机器人控制装置

Family Cites Families (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59157715A (ja) 1983-02-25 1984-09-07 Hitachi Ltd ロボツトの直接教示方法
WO1997010080A1 (fr) * 1995-09-14 1997-03-20 Kabushiki Kaisha Yaskawa Denki Unite d'enseignement pour robots
WO1998003314A1 (fr) * 1996-07-24 1998-01-29 Fanuc Ltd Procede de commande de deplacement graduel de robots
SE509443C2 (sv) 1997-05-15 1999-01-25 Asea Brown Boveri Förfarande för övervakning av en manipulators rörelsestyrning
IL120889A (en) * 1997-05-22 1998-10-30 Eshed Robotec 1982 Ltd Method and facility for direct learning of vending machines
SE516720C2 (sv) * 1999-04-01 2002-02-19 Abb Ab Utrustning för styrning av en industrirobot och förfarande för programmering och/eller justering av robotens rörelse
US6594552B1 (en) * 1999-04-07 2003-07-15 Intuitive Surgical, Inc. Grip strength with tactile feedback for robotic surgery
KR20020008848A (ko) * 2000-03-31 2002-01-31 이데이 노부유끼 로봇 장치, 로봇 장치의 행동 제어 방법, 외력 검출 장치및 외력 검출 방법
DE10137955B4 (de) 2001-08-07 2007-02-22 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zur Bewegungskommandierung eines Serviceroboters
JP3923053B2 (ja) * 2004-03-31 2007-05-30 ファナック株式会社 ロボット教示装置
EP1927440A1 (en) * 2006-11-30 2008-06-04 Abb Research Ltd. Method and device for monitoring the condition of an industrial robot
DE102006061752A1 (de) 2006-12-28 2008-07-03 Kuka Roboter Gmbh Roboter und Verfahren zum Programmieren eines Roboters
DE102007063099A1 (de) 2007-12-28 2009-07-02 Kuka Roboter Gmbh Roboter und Verfahren zum Überwachen der Momente an einem solchen
US8175749B2 (en) 2008-02-28 2012-05-08 Panasonic Corporation Control apparatus and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit for controlling robot arm
DE102008027008B4 (de) 2008-06-06 2016-03-17 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern eines Manipulators
EP2359205A1 (de) 2008-12-17 2011-08-24 KUKA Laboratories GmbH Verfahren und vorrichtung zur befehlseingabe in eine steuerung eines manipulators
CN102387900B (zh) * 2009-03-27 2015-06-03 Abb股份公司 真正安全的小型机器人和用于控制此机器人的方法
JP4699572B2 (ja) * 2009-09-28 2011-06-15 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、及び、ロボットアーム制御用集積電子回路
DE102009058607A1 (de) 2009-12-17 2011-06-22 KUKA Laboratories GmbH, 86165 Verfahren und Vorrichtung zum Steuern eines Manipulators
US20120130541A1 (en) * 2010-09-07 2012-05-24 Szalek Leszek A Method and apparatus for robot teaching
JP5180414B2 (ja) * 2011-01-27 2013-04-10 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、ロボットアーム制御プログラム、並びに、集積電子回路
DE102013010290A1 (de) 2013-06-19 2014-12-24 Kuka Laboratories Gmbh Überwachen eines kinematisch redundanten Roboters
DE102013218823A1 (de) * 2013-09-19 2015-04-02 Kuka Laboratories Gmbh Verfahren zum manuell geführten Verstellen der Pose eines Manipulatorarms eines Industrieroboters und zugehöriger Industrieroboter
JP5941083B2 (ja) * 2014-03-12 2016-06-29 ファナック株式会社 外部環境との接触を検知するロボット制御装置
DE102014216514B3 (de) * 2014-08-20 2015-09-10 Kuka Roboter Gmbh Verfahren zum Programmieren eines Industrieroboters und zugehöriger Industrieroboter
DE102014222809B3 (de) * 2014-11-07 2016-01-14 Kuka Roboter Gmbh Event-basierte Redundanzwinkelkonfiguartion für Gelenkarmroboter

Also Published As

Publication number Publication date
CN107438502A (zh) 2017-12-05
WO2016155787A1 (en) 2016-10-06
US10150214B2 (en) 2018-12-11
EP3277467B1 (en) 2020-04-29
EP3277467A1 (en) 2018-02-07
US20180104817A1 (en) 2018-04-19
CN107438502B (zh) 2019-05-31

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