EP3129841A1 - Verfahren zum handhaben eines objekts mittels eines manipulators und einem eingabewerkzeugs - Google Patents
Verfahren zum handhaben eines objekts mittels eines manipulators und einem eingabewerkzeugsInfo
- Publication number
- EP3129841A1 EP3129841A1 EP15720201.1A EP15720201A EP3129841A1 EP 3129841 A1 EP3129841 A1 EP 3129841A1 EP 15720201 A EP15720201 A EP 15720201A EP 3129841 A1 EP3129841 A1 EP 3129841A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- input tool
- coordinate system
- movement
- manipulator
- input
- Prior art date
- Legal status (The legal status 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 status listed.)
- Withdrawn
Links
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- 238000004891 communication Methods 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 2
- 230000001960 triggered effect Effects 0.000 abstract 1
- 239000013598 vector Substances 0.000 description 32
- 238000013519 translation Methods 0.000 description 9
- 230000008859 change Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000005291 magnetic effect Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
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- 230000004913 activation Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- 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
- B25J9/1692—Calibration of manipulator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- 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
- G05B2219/36433—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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39398—Convert hand to tool coordinates, derive transform matrix
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/41—Tool
Definitions
- the present invention relates to methods and means for handling an object, in particular a heavy, bulky or otherwise unwieldy object, e.g. in a warehouse, a production facility or the like.
- an object handling system in which an input tool has a cube-shaped body and a joystick protruding from one of the six faces of the cube.
- the input tool is placeable with each of the other five surfaces of the cube and is equipped with an orientation sensor that allows the down-facing surface of the cube to be identified.
- a control unit takes into account which of the five cube areas is below.
- the input device comprises a hand control lever, which is movable against a base in a multi-axis fashion, for inputting control commands and a multi-axis finger input device for inputting program commands.
- EP 1 738 881 B1 discloses a robotic control system comprising an input device to be operated by a user with an actuating switch.
- the input device has a 6-degree magnetic sensor for detecting its position and attitude to drive the robot accordingly.
- US 5 345 540 A discloses a method of programming a manipulator to move a manipulator from an origin point to one or more modules.
- the object of the present invention is to provide a method for handling an object, in which a comfortable, intuitive controllability of movements of the object can be ensured at any time.
- the object is achieved by a method comprising the steps of: a) mechanically connecting the object to a manipulator and with an input tool with which a direction can be input in an inner coordinate system related to the input tool,
- the relationship between the outer and inner coordinate system is initially unknown.
- the relationship between the coordinate systems can be found out and the user input direction can be transformed into the outer coordinate system such that the direction of the control unit is in Response to the input of the user controlled movement matches the entered direction. This ensures the intuitive operability of the object handling system.
- the sample movement can be a translation.
- the input tool can be equipped with an acceleration sensor. be allowed, with the aid of which the direction of a force acting on the input tool at the beginning of the sample movement acceleration or the direction of a delay at the end of the sample movement can be detected.
- the sample movement is a rotation
- the known direction is the direction of the axis of that rotation.
- Such a rotation can also be detected with an acceleration sensor by detecting the direction of gravitational acceleration in the internal coordinate system of the input tool before and after the rotation.
- the direction of the axis of rotation can then be easily calculated, for example, by forming a cross product of the two detected gravitational acceleration vectors.
- the known direction should preferably be horizontal.
- the input tool comprises a base for connecting to the object and a head movable relative to the base from a rest position
- the inner direction input by the user may be the
- the direction of a force or a torque acting between the head and the base of the input tool can also be detected as the input internal direction.
- the known direction of the sample movement may be fixed and may be the same each time the method described above is performed.
- step a) detecting an inner direction input by the user at the input tool
- this predetermined coordinate transformation may in particular be a coordinate transformation determined in an earlier iteration of the method. This increases the probability that the direction of the sample movement with the direction in which the user wishes to guide the object by his input at least largely coincides, and avoids an irritation of the user by a movement of the object in a direction not desired by him becomes .
- these additional steps allow a continuous check whether the applied coordinate transformation still fits the orientation of the input tool, and optionally an adjustment of the coordinate transformation.
- a disturbance e.g. due to a lack of physical connection between the input tool and the object to be handled, when a movement of the input tool is detected that is not caused by a movement of the manipulator or a movement of the manipulator, no movement of the input tool is detected.
- the invention furthermore relates to an object handling system having a manipulator to which an object to be handled can be temporarily fastened, an input tool attachable to the object and a control unit for controlling the manipulator based on inputs made by a user on the input tool, where the input tool is an orientation sensor for detecting the orientation of the input tool in the room includes and is set To transmit the detection result of the orientation sensor to the control unit.
- the input tool may comprise a base for attachment to the object and a head for manipulation by the user, the head and the base conveniently being physically connected via an input sensor arranged to at least one of the user for inputting a direction upside down applied vectorial control quantity relative to an internal coordinate system of the input tool to capture.
- the orientation sensor may be any sensor that allows the measurement of an angle between a reference direction of the input instrument and an external preferential direction such as the direction of the gravitational acceleration or the earth's magnetic field.
- the orientation sensor may be an acceleration sensor whose detection result quantitatively specifies at least the direction, possibly also the magnitude, of an acceleration acting on the input tool relative to the inner coordinate system of the input tool.
- the better the resolution of this acceleration sensor the lower the amplitude of the sample motion required for a sufficiently accurate determination of the coordinate transformation.
- a small amplitude of the sample motion is desirable to allow the object to be abutted against an external obstruction during trial movement. to avoid.
- the angular resolution of the acceleration sensor should therefore be in the range of a few degrees or better.
- the input tool and control unit should expediently have cordless interfaces for communication with one another.
- the manipulator may be an end effector of a robotic arm with articulated links; However, the invention is not limited thereto but, for example, also transferable to a manipulator movable by means of a bridge crane or a trolley.
- Another object of the present invention is the input tool for the object handling system described above.
- Such an input tool may conveniently comprise a switch responsive to the presence of a foreign body in an area of the environment of the input tool. The state of such a switch is an indication of whether the input tool is attached to an object to be handled or not. It can be operated mechanically, by contact with the object, or operate without contact.
- an inductive switch is particularly preferred since it is capable of detecting objects largely independently of their substance composition.
- such a switch is arranged at the base of the input tool, and the area of the environment which it monitors is located on a side of the base facing away from the head.
- the input tool may be switchable by the switch between a sleep state in which detection results of the orientation sensor and / or the input sensor are not output, and an active state in which the detection results are output. Such switching is reduced to a the probability that detection results are supplied to the control unit, currency ⁇ rend the input tool is not mounted on the object, on the other hand it helps to minimize the power consumption of the input tool, which is particularly advantageous when the input tool derives its operating power from an internal source such as a Batte ⁇ RIE or an accumulator.
- a further subject of the invention is a computer program product with program code means which enable a computer to execute the above method ⁇ bene beschrie.
- FIG. 1 is a schematic view of an object handling system according to the invention
- FIG. 2 shows a schematic section through an input tool of the object handling system
- FIG. 3 is a flowchart of a working method of the control unit of FIG. 1 according to a first embodiment
- FIG. 5 shows a development of the method from FIG. 3 or FIG. 4.
- Fig. 1 shows a schematic view of an object handling system for handling an object 1.
- the object 1 is shown here schematically as a cube, but it is obvious that its shape and material nature are in principle, arbitrary.
- a robot arm 2 comprises a base 3 fixed in a coordinate system denoted here as an external coordinate system and a plurality of links 4 which form a chain between the base 3 and an end effector 5 holding the object 1 and which are articulated to each other, to the base 3 and / or are connected to the end effector 5.
- a coordinate system K here referred to as outer coordinate system, having axes x, y, z in which the base 3 of the robot arm 2 is immovable.
- the input tool 7 comprises a base 8, here of a flat-cylindrical shape, from which one end side faces the object 1 and is fastened thereto, and the other end side a head to be handled by a user 9 carries.
- the head 9 is here also of flat cylindrical shape and slightly smaller diameter than the base eighth
- FIG. 2 shows a schematic cross section through the input tool 7.
- means for temporary fixing are provided, in this case, for example, double-sided Adhesive tape strips 11 that need only be pressed against a flank of the object 1 to allow the input tool 7 to adhere thereto and which, when dirty and no longer sufficiently adhesive, can be replaced.
- the end face 10 could also carry a plurality of pins instead of the tape strips 11, which bore into the wood surface and provide support for the input tool 7 when pressed against the box by a user.
- the objects to be handled are containers or generally objects made of ferromagnetic material, permanent or electromagnets may also be considered as means for temporary fixing.
- hooks can also be provided on the front side 10 in order to suspend the input tool against a wire of a wall of the lattice box. Further modifications are conceivable.
- the head 9 can be more or less movable (for example a joystick) relative to the base 8 or else completely immobile (eg pressure sensor).
- the control variable detected by the sensor 12 may in particular be a force or a torque. Intuitively, a tensile or compressive force which the user exerts on the head 9 is oriented in the direction in which he wishes to translate the object 1 or a torque exerted by him is oriented in the direction of the axis he wants to rotate the object 1.
- the sensor 12 may be sensitive to force, torque, or both, depending on the design. It preferably comprises for each control variable to be detected three sensor components 14 for detecting in each case one of three mutually orthogonal components of the relevant control variable. These sensor components 14 may be, for example, optoelectronic sensors (PSD), piezoelements or connected to the head 8 with the base 8 Rod 13 arranged strain gauges.
- the axis' of this inner coordinate system extends in the longitudinal direction of the rod 13, the axis y 'transverse to it in the sectional plane of FIG. 2 and the axis z' perpendicular to the cutting plane.
- the base 8 further includes an acceleration sensor 15 for measuring a vectorial acceleration.
- the acceleration sensor 15 may also comprise three sensor components which are each sensitive to accelerations in three mutually orthogonal spatial directions, these spatial directions also being expediently the axial directions of the inner coordinate system x ', y', z '.
- a radio interface 16 is connected to the sensors 12, 15 in order to transmit their detection results to a complementary radio interface 17 of the control unit 6.
- a switch 19 is provided between the accumulator 18 on the one hand and the sensors 12, 15 and the radio interface 16 on the other hand has a button 20 projecting beyond the end face 10 and can be actuated by contact with the object 1.
- the switch 19 is closed when the button 20 is depressed.
- the sensors 12, 15 and the radio interface 16 are energized when the input tool 7 is mounted on the object 1 and pushes the button 20 back, and deliver in this state detection results to the control unit 6.
- the switch 19 is open; No acquisition results are delivered and no energy is consumed.
- switches 19 may also be provided; For example, a capacitive proximity switch that detects the approach to an object 1 by means of a change in the dielectric constant in its environment. If the object 1 is ferromagnetic and the means for temporarily fixing the input tool 7 comprise a permanent magnet, then the switch 19 may also be formed by a coil surrounding the permanent magnet, which changes the magnetic flux as the permanent magnet approaches the object 1 reacts.
- An activation step S1 may be to turn on the control unit 6 or to start receiving data from the input tool 7 after it has been attached to the object 1.
- the input tool 7 responds to its attachment to the object 1 by transmitting to the control unit 6 the three components of the gravitational acceleration vector detected by the acceleration sensor 15 and related to the inner coordinate system; these are received by the control unit 6 in step S2 and stored as a vector g ' o .
- the control unit 6 activates the robot arm 2 in order to rotate the object 1 about an axis in a sample movement.
- the direction of this axis is known to the control unit 6 and can be indicated as a vector r parallel to the axis in the outer coordinate system (hereinafter no distinction is made between the vector and the axis specified by it and the symbol r is used for both.
- the method is particularly simple if the axis is horizontal r ge ⁇ selected.
- the sample movement is a rotation about the x-axis of the coordinate system äuße ⁇ Ren K, which means that r is a vector in the x-direction.
- This rotation results in a change in the direction of gravitational acceleration in the inner coordinate system of the input tool 7; the modified gravitational acceleration vector is in turn received by the control unit 6 in S4 and stored as vector g.
- the direction of the rotation axis is given in the inner coordinate system by and is calculated in step S5.
- the normalized acceleration vector -g- in the inner coordinate system K ' corresponds to the z-unit vector in the outer coordinate system K, corresponds to the x-unit vector
- the control unit 6 determines the coordinate transformation (rotation matrix) T x which converts the inner coordinate system K 'into the outer coordinate system K.
- the rotation matrix consists of the components of the unit vectors of K ', ie if the vectors in Cartesian representation in the inner coordinate system K' have the following components
- the control unit 6 is now able to correctly process inputs made by the user at the head 9, such as exerting a tensile or compressive force or a torque.
- control unit 6 causes a translation of the object 1 in the direction of the transformed force d in step S9.
- control quantity d ' is a torque
- it causes rotation of the object 1 about an axis oriented in the direction d.
- the sensor 12 is designed to simultaneously detect force and torque, the movement of the object 1 caused by the control unit 6 may also be a superposition of translation in the direction of the force and rotation about the axis specified by the direction of the torque.
- step S9 If the movement of the object 1 controlled in step S9 is a pure translation, this remains without effect on the coordinate transformation ⁇ . If the movement controlled in step S9 is a rotation Then, in the course of the movement, the coordinate transformation T is also updated by multiplying it by the coordinate transformation R representative of the rotation:
- Fig. 4 shows an alternative embodiment of the method.
- the steps S1, S2 are the same as described with reference to FIG. 3 and will not be explained again.
- the sample movement performed in step S3 is not a rotation but a translation.
- the direction of this sample movement is basically arbitrary, but only the horizontal component is relevant for the following evaluation, therefore the sample movement should preferably be oriented orthogonally to the gravitational acceleration, ie horizontally.
- the object 1 experiences an acceleration whose vector a in the outer coordinate system at least the direction is known. To simplify the notation, it is assumed here that the sample movement in
- the acceleration acting on the sensor 15 is measured again and stored as g ⁇ on the control unit 6 in step S4.
- the direction of the acceleration in the inner coordinate system a ' is calculated as the difference between g and g' 0 in step S5. If desired, when, towards the end of the sample movement, the object 1 is exposed to an acceleration opposite to the direction of the sample movement, the resulting total acceleration detected by the acceleration sensor 15 can also be measured and stored as g in order subsequently to determine the direction of the Acceleration in the inner coordinate system a 'from the difference g ⁇ g. to calculate.
- a step S10 can be provided in which the acceleration due to gravity g ' Q is measured in the inner coordinate system K' and transformed into the outer coordinate system K.
- step S3 If the direction of the vector obtained thereby deviates significantly from the negative z-direction, then the coordinate transformation T is not exact and the method returns to step S3 to repeat the sample movement and derive the coordinate transformation T again. If the directions match, the method returns directly to step S7 to process the next user input.
- Steps S1 to S9 of this method are the same as in Fig. 3 or 4.
- the control unit checks in step S10 'of the method of Fig. 5 whether the movement of the object 1 controlled in step S9 is a translation or a rotation.
- the control unit calculates the acceleration a 'due to this translation, which has been corrected for acceleration of gravity, by taking the difference between, as described with reference to step S5 of FIG one each before and one during the movement of step S9 or in each case one in an acceleration and in a deceleration phase of the movement of the sensor 15 recorded acceleration reading.
- the direction of this difference should coincide with the direction of the input ⁇ f 'detected by the sensor 12.
- step S12 If it is determined in step S12 that these directions coincide with sufficient accuracy, the process immediately returns to step S7 to process another input of the user; in the case of a significant deviation, the coordinate transformation T is corrected in step S13.
- a correction may be that the previously used transformation T n is discarded and determines an updated coordinate transformation T * n + i based on the direction d known in the outer coordinate system and the resulting acceleration a 'measured in step S in the inner coordinate system is, for the
- a weighted sum of T n and T can also be used as the updated transformation T n + 1 .
- a current measured value of the gravitational acceleration g ' 0 should be present in the inner coordinate system K'; this can for example be measured in a step S8 'immediately before the start of the movement of the object in step S9.
- step S12 when the movement in the direction d is a rotation, after completion of the rotation, the gravitational acceleration vector g 'is measured again (S14), a resulting orientation of the rotation axis r' in the inner coordinate system is calculated (S15) and the coincidence of its direction the direction of the input d 'made at the input tool 7 is checked (S16) to correct in the case of excessive deviation in step S17. If a significant deviation is detected in step S12 or S16, it can optionally be checked whether an error exists that can not be corrected by a correction of the coordinate transformation. Such an error exists, for example, when the input tool 7 has been dropped or removed from the object 1, when the communication between the input tool 7 and the control unit 6 has been interrupted or the input tool 7 has failed. In response to such a detected error, the method would be aborted and the user would be presented with an error condition signal.
- Whether the input tool 7 is attached to the object 1 can be checked by comparing the acceleration detected by the sensor 15 and the acceleration value resulting from the control specification of the control unit 6 for driving the end effector 5. For this purpose, the control unit 6 determines the deviation between the measured acceleration corrected for the acceleration due to gravity and the acceleration calculated from the control specification. If the deviation exceeds a certain threshold value, it can be concluded that the input tool 7 is no longer permanently connected to the object 1.
- the control unit 6 If the input tool 7 has been removed from the object 1 or if the input tool 7 has dropped away from the object 1, it is no longer moved during a movement of the object 1. As a result, the sensor 15 of the input tool 7 will detect no acceleration caused by a movement of the object 1. Ie. The acceleration-adjusted values detected by the sensor 15 assume the value zero and maintain this value equal to when the end-effector 5 or object 1 is moved. If the control unit 6 receives a zero measured value from the input tool 7 and if the end effector 5 or the object 1 is moved simultaneously, the control unit 6 can evaluate this as an error.
- the communication between the input tool 7 to the control unit 6 can be continuously checked by the input tool 7 sends a continuous test signal to the control unit 6. If no test signal is received by the control unit 6, this can be detected as interruption of the communication.
- a conditional by a faulty sensor 15 failure of the input tool 7 can be detected by checking the caused by the acceleration of gravity g acceleration signal. If the magnitude of the acceleration vector g or of approximately 9.81 (m / s 2 ) deviates, or if the direction of the acceleration vector detected in the inner coordinate system (at standstill of the robot) deviates from a direction to be expected on account of the gravitational field, then this can be considered a failure of the input tool 7.
- the check routine may be executed by the control unit 6.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014004919.1A DE102014004919B4 (de) | 2014-04-07 | 2014-04-07 | Verfahren und Mittel zum Handhaben eines Objekts |
PCT/EP2015/000735 WO2015154870A1 (de) | 2014-04-07 | 2015-04-07 | Verfahren zum handhaben eines objekts mittels eines manipulators und einem eingabewerkzeugs |
Publications (1)
Publication Number | Publication Date |
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EP3129841A1 true EP3129841A1 (de) | 2017-02-15 |
Family
ID=53040490
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP15720201.1A Withdrawn EP3129841A1 (de) | 2014-04-07 | 2015-04-07 | Verfahren zum handhaben eines objekts mittels eines manipulators und einem eingabewerkzeugs |
Country Status (7)
Country | Link |
---|---|
US (1) | US10300602B2 (de) |
EP (1) | EP3129841A1 (de) |
JP (1) | JP6570540B2 (de) |
KR (1) | KR102400668B1 (de) |
CN (1) | CN106458476B (de) |
DE (1) | DE102014004919B4 (de) |
WO (1) | WO2015154870A1 (de) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102015117306B4 (de) * | 2015-10-12 | 2018-01-18 | Toolmotion GmbH | Mehrachs-Maus für einen Mehrachsroboter |
AT518481B1 (de) * | 2016-03-07 | 2018-09-15 | Keba Ag | System und Verfahren zur räumlichen Bewegung eines Objekts |
USD831087S1 (en) | 2017-03-23 | 2018-10-16 | Denso Wave Incorporated | Industrial robot |
JP6730247B2 (ja) | 2017-11-28 | 2020-07-29 | ファナック株式会社 | ロボット操作装置 |
DE102020101515A1 (de) | 2020-01-23 | 2021-07-29 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren, Computerprogrammprodukt und Roboter zum Bestimmen einer Orientierung eines Roboters in einem Gravitationsfeld |
DE102021205565A1 (de) | 2021-06-01 | 2022-12-01 | Contitech Luftfedersysteme Gmbh | Verfahren zum Kalibrieren einer luftgefederten Vorrichtung in einem kartesischen Vorrichtungskoordinatensystem |
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EP1724072B1 (de) | 2005-05-20 | 2009-03-11 | ABB Research Ltd. | Beschleunigungsmesser zur Bewegungsregelung eines an einem Roboter-Endeffektor befestigten Werkzeugs |
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JP4845431B2 (ja) * | 2005-06-30 | 2011-12-28 | 澁谷工業株式会社 | ロボット制御システム |
EP1795315A1 (de) | 2006-05-31 | 2007-06-13 | Abb Research Ltd. | Handbediengerät für einen Industrieroboter |
JP2008213119A (ja) * | 2007-03-07 | 2008-09-18 | Institute Of Physical & Chemical Research | 協調作業ロボットとその制御方法 |
DE102007029398A1 (de) * | 2007-06-26 | 2009-01-02 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Programmieren eines Industrieroboters |
EP2055446A1 (de) * | 2007-10-31 | 2009-05-06 | Abb As | Tragbares Robotersteuerungsgerät und Verfahren zur Steuerung der Bewegungen eines Roboters |
EP2194434B1 (de) * | 2008-12-05 | 2012-05-30 | COMAU SpA | Roboter-System |
JP5310130B2 (ja) * | 2009-03-11 | 2013-10-09 | オムロン株式会社 | 3次元視覚センサによる認識結果の表示方法および3次元視覚センサ |
JP5509673B2 (ja) * | 2009-05-22 | 2014-06-04 | 株式会社Ihi | ロボット制御装置およびその制御方法 |
DE102009041946A1 (de) * | 2009-09-17 | 2011-03-24 | Kuka Roboter Gmbh | Eingabevorrichtung und -verfahren für einen Manipulator |
FR2983762B1 (fr) * | 2011-12-09 | 2014-01-10 | Commissariat Energie Atomique | Procede de pilotage d'un robot et systeme de pilotage mettant en oeuvre un tel procede |
CN102581852B (zh) | 2012-01-20 | 2015-01-14 | 上海交通大学 | 用于机器人重载装配和搬运作业的位姿调整*** |
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2014
- 2014-04-07 DE DE102014004919.1A patent/DE102014004919B4/de active Active
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2015
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- 2015-04-07 KR KR1020167031027A patent/KR102400668B1/ko active IP Right Grant
- 2015-04-07 EP EP15720201.1A patent/EP3129841A1/de not_active Withdrawn
- 2015-04-07 JP JP2016561763A patent/JP6570540B2/ja active Active
- 2015-04-07 CN CN201580023748.6A patent/CN106458476B/zh active Active
- 2015-04-07 US US15/302,629 patent/US10300602B2/en active Active
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DE102014004919B4 (de) | 2022-05-12 |
CN106458476A (zh) | 2017-02-22 |
KR20160144424A (ko) | 2016-12-16 |
WO2015154870A1 (de) | 2015-10-15 |
US10300602B2 (en) | 2019-05-28 |
DE102014004919A1 (de) | 2015-10-08 |
US20170129106A1 (en) | 2017-05-11 |
KR102400668B1 (ko) | 2022-05-20 |
JP2017514707A (ja) | 2017-06-08 |
JP6570540B2 (ja) | 2019-09-04 |
CN106458476B (zh) | 2020-01-03 |
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