DK3448632T3 - System og fremgangsmåde til styring af en robot - Google Patents

System og fremgangsmåde til styring af en robot Download PDF

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Publication number
DK3448632T3
DK3448632T3 DK17721077.0T DK17721077T DK3448632T3 DK 3448632 T3 DK3448632 T3 DK 3448632T3 DK 17721077 T DK17721077 T DK 17721077T DK 3448632 T3 DK3448632 T3 DK 3448632T3
Authority
DK
Denmark
Prior art keywords
robot
procedure
controlling
Prior art date
Application number
DK17721077.0T
Other languages
English (en)
Inventor
Björn Pietsch
Sami Haddadin
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
Application granted granted Critical
Publication of DK3448632T3 publication Critical patent/DK3448632T3/da

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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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/061—Safety devices with audible signals
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • 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
    • G05B19/406—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 characterised by monitoring or safety
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34482—Redundancy, processors watch each other for correctness
    • 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
    • G05B2219/39083—Robot interference, between two robot arms
    • 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
    • G05B2219/40202—Human robot coexistence

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Multimedia (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Safety Devices In Control Systems (AREA)
DK17721077.0T 2016-04-24 2017-04-21 System og fremgangsmåde til styring af en robot DK3448632T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016005026.8A DE102016005026B3 (de) 2016-04-24 2016-04-24 System und Verfahren zum Steuern eines Roboters
PCT/EP2017/059562 WO2017186599A1 (de) 2016-04-24 2017-04-21 System und verfahren zum steuern eines roboters

Publications (1)

Publication Number Publication Date
DK3448632T3 true DK3448632T3 (da) 2021-11-22

Family

ID=58640583

Family Applications (1)

Application Number Title Priority Date Filing Date
DK17721077.0T DK3448632T3 (da) 2016-04-24 2017-04-21 System og fremgangsmåde til styring af en robot

Country Status (9)

Country Link
US (1) US11059175B2 (da)
EP (1) EP3448632B1 (da)
JP (1) JP6743178B2 (da)
KR (1) KR102150887B1 (da)
CN (1) CN109070348B (da)
DE (1) DE102016005026B3 (da)
DK (1) DK3448632T3 (da)
SG (1) SG11201808697VA (da)
WO (1) WO2017186599A1 (da)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA3191826A1 (en) * 2022-03-04 2023-09-04 Sanctuary Cognitive Systems Corporation Robots, tele-operation systems, computer program products, and methods of operating the same

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US5131081A (en) * 1989-03-23 1992-07-14 North American Philips Corp., Signetics Div. System having a host independent input/output processor for controlling data transfer between a memory and a plurality of i/o controllers
JPH05146987A (ja) * 1991-11-27 1993-06-15 Mitsubishi Electric Corp 産業用ロボツトの停止装置
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AU4204300A (en) * 1999-04-09 2000-11-14 Abb Automation Inc. Digital controller redundancy using neural network fault detection
JP2002195899A (ja) * 2000-12-27 2002-07-10 Oki Electric Ind Co Ltd 障害防止装置
US7213168B2 (en) 2003-09-16 2007-05-01 Rockwell Automation Technologies, Inc. Safety controller providing for execution of standard and safety control programs
JP3944156B2 (ja) * 2003-12-03 2007-07-11 ファナック株式会社 非常停止回路
EP1786601A1 (en) * 2004-06-24 2007-05-23 Abb Ab Industrial robot system with a portable operator control device
JP4027350B2 (ja) * 2004-06-29 2007-12-26 ファナック株式会社 ロボットの待機位置復帰プログラム作成装置
DE102004031485B4 (de) * 2004-06-30 2015-07-30 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern des Handhabungsgeräts
JP3907649B2 (ja) * 2004-09-02 2007-04-18 ファナック株式会社 ロボット間の干渉防止制御装置
JP2006178730A (ja) 2004-12-22 2006-07-06 Yaskawa Electric Corp 安全信号ｉ／ｆ装置およびその二重化信号入力処理方法
JP4137932B2 (ja) 2005-10-28 2008-08-20 ファナック株式会社 ロボット制御装置
JP2007283448A (ja) * 2006-04-18 2007-11-01 Nachi Fujikoshi Corp ロボット制御装置
ES2316012T3 (es) * 2006-09-14 2009-04-01 Abb Research Ltd. Un metodo y dispositivo para evitar colisiones entre un robot industrial y un objeto.
JP4168072B2 (ja) 2006-12-21 2008-10-22 ファナック株式会社 ロボットシステム
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DE102012101516A1 (de) * 2012-02-24 2013-08-29 Pilz Gmbh & Co. Kg Sicherheitsschaltvorrichtung mit Netzteil
WO2014013554A1 (ja) * 2012-07-17 2014-01-23 三菱電機株式会社 制御装置および制御方法
DE102013211422A1 (de) * 2013-06-18 2014-12-18 Kuka Laboratories Gmbh Steuervorrichtung einer Maschine und Maschine mit einer Steuervorrichtung
GB201509341D0 (en) * 2015-05-29 2015-07-15 Cambridge Medical Robotics Ltd Characterising robot environments
JP7343323B2 (ja) * 2019-07-25 2023-09-12 ファナック株式会社 故障予測システム
EP4004389A4 (en) * 2019-07-26 2023-11-29 Fluid Power Al, LLC SYSTEM AND METHOD FOR EVALUATING HYDRAULIC SYSTEM EVENTS AND PROVIDING RESPONSES

Also Published As

Publication number Publication date
DE102016005026B3 (de) 2017-05-18
JP2019514709A (ja) 2019-06-06
SG11201808697VA (en) 2018-11-29
CN109070348A (zh) 2018-12-21
CN109070348B (zh) 2022-04-26
US20190091863A1 (en) 2019-03-28
US11059175B2 (en) 2021-07-13
JP6743178B2 (ja) 2020-08-19
EP3448632B1 (de) 2021-09-01
KR102150887B1 (ko) 2020-09-02
KR20190006979A (ko) 2019-01-21
WO2017186599A1 (de) 2017-11-02
EP3448632A1 (de) 2019-03-06

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