EP3615280A1 - Roboter und verfahren zur steuerung eines roboters - Google Patents
Roboter und verfahren zur steuerung eines robotersInfo
- Publication number
- EP3615280A1 EP3615280A1 EP18719125.9A EP18719125A EP3615280A1 EP 3615280 A1 EP3615280 A1 EP 3615280A1 EP 18719125 A EP18719125 A EP 18719125A EP 3615280 A1 EP3615280 A1 EP 3615280A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- robot
- effector
- control
- control program
- control unit
- 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- Withdrawn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
- 238000000034 method Methods 0.000 title claims description 33
- 239000012636 effector Substances 0.000 claims abstract description 98
- 230000001464 adherent effect Effects 0.000 claims description 9
- 230000002085 persistent effect Effects 0.000 abstract description 3
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 238000011161 development Methods 0.000 description 28
- 230000018109 developmental process Effects 0.000 description 28
- 238000012545 processing Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000537 electroencephalography Methods 0.000 description 1
- 238000002567 electromyography Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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
Definitions
- the invention relates to a robot with at least one robot manipulator having an effector.
- Robots with robotic manipulators are well known in the art. Such robot manipulators are typically controlled by a control unit based on a control program. When handling objects, in particular smaller objects, such as screws, etc., with an effector of a robot manipulator, it sometimes does not occur despite the control program-appropriate release of a respective object by the effector
- the further adhesion of the object to the effector can occur, for example, due to mechanical adhesion forces, magnetic forces, electrostatic forces, etc.
- the object of the invention is to improve the reliability and reliability of recording, handling and releasing objects with the robot manipulator.
- a first aspect of the invention relates to a robot having a
- Robot manipulator with an effector wherein the robot manipulator is designed and set up for recording, handling and releasing an object.
- Robot manipulator and the effector are controlled by a control unit, advantageously according to a control program.
- the control unit is designed and configured to execute the following control program: after a control program-appropriate release of the object by the effector, the robot manipulator executes a predetermined movement, in which the effector is connected to a
- Stripping object is passed so that the optionally still adhering to the effector object is stripped on the surface of the Abstreifmenstandes.
- the effector is controlled such that an object held by the effector is released, a movement for stripping one despite (mechanical) release by the effector, is still running on the effector attached object.
- release is understood to mean, in particular, a mechanical release, for example by eliminating / eliminating holding forces, that is, the effector is activated in such a way that the previously gripped object is released mechanically
- adhesion-promoting substances, magnetization effects, electrostatic forces, etc. remain attached to the effector despite their mechanical "release.” Typically, the objects thus continue to adhere to the effector in its previous holding position.
- the predetermined movement is at which the effector on the
- Stripping object is passed, defined so that thereby the object is mechanically separated in its previous position on the effector of the effector.
- the design and definition of the required movement depends on the application, size and shape of the objects to be gripped, and the size, shape and positioning of the object
- the embodiment described above is very safe because it performs the stripping operation described independently of an actual further sticking of an object that has already been mechanically released by the effector.
- the disadvantage is that this increases the time duration and also the energy requirement during operation of the robot.
- This embodiment is therefore particularly suitable for applications in which a particularly high reliability, as far as the escape of objects from the effector, is required.
- a robotic manipulator having an effector wherein the robotic manipulator is configured and arranged to record, handle, and release an object, and is controlled in accordance with a control program by a control unit.
- the robot comprises a first sensor means, which is designed and set up to detect, after a control-program-appropriate "release" of the object by the effector, a further existing adhesion of the object to the effector, and if present such a persistent adherence to generate a signal S.
- Control unit is further designed and set up, the following
- Execute control program in the presence of a signal S, a control of the robot manipulator is such that it performs a predetermined movement B, in which the effector is guided past a stripping object such that the adhering to the effector object is stripped on the surface of the stripping object.
- the first sensor means comprises a mechanical contact sensor, an ultrasonic sensor or an electromagnetic sensor or an optical sensor or a force sensor or a moment sensor or a combination thereof.
- the aforementioned sensors are advantageously arranged in / on the robot manipulator, in particular on the effector.
- the first sensor means further enables a determination of the positioning and / or orientation of the object adhering to the effector.
- the first sensor means is advantageously designed and configured to execute the following control program: the signal S is generated when the first sensor means determines a further sticking of the released object by evaluating sensor data of the corresponding sensor (s).
- the signal S is generated when the first sensor means determines a further sticking of the released object by evaluating sensor data of the corresponding sensor (s).
- Abstreifzi depending on the determined position or orientation of the still adhering to the effector object optimally, so that it can be ensured that the still adhering object is mechanically separated in each case by stripping the stripping object from the effector.
- Robotemanipulators in the area of the effector are determined or can be determined with environment objects or with parts of the robot itself.
- the second sensor means is executed and set up to execute the following control program: if a collision is detected during a movement of the robot manipulator after an object has been released by the effector in accordance with the control program, a signal S1 is generated.
- the control unit is designed and configured to execute the following control program: in the presence of a signal S1, the robot manipulator is controlled such that it performs a predetermined movement B1, in which the effector is guided past a stripping object in such a way that the adhering Object is stripped on the surface of the stripper object.
- This development of the robot also covers cases in which an object released by the effector does not adhere to the effector in its original holding position on the effector, but in another position, for example on the peripheral edge, so that it is attached to the effector upon movement of the effector and thus the effective outline of the effector magnifying object may cause unwanted collisions with objects in the environment.
- this also covers cases in which the first sensor means could not detect attachment of an object to the effector.
- the signal S is identical to the signal S1. In an alternative development, the signal S is not identical to the signal S1. In an advantageous development, the movement B is identical to the movement B1. In an alternative development, the movement B is not identical to the movement B1.
- An advantageous development of the robot according to the second alternative is characterized in that the determination of a collision of the robot manipulator, in particular in the area of the effector, with surrounding objects by the second sensor means based on measurement data of one or more sensors and / or based on at least one the measured data applied algorithm takes place.
- the sensor or sensors of the second sensor means are selected from the following list: electrical voltage sensor, electrical current sensor,
- Accelerometer torque sensor, force sensor, strain sensor.
- An advantageous development of the robot according to the first or second alternative is characterized in that the stripping object has an edge, and the control unit is designed and configured to execute the following control program: controlling the robotic manipulator such that the effector adheres Scrape object off the edge.
- the first sensor means detects a position and / or an orientation of the object on the effector.
- the movement B is defined as a function of the respectively determined position and / or orientation of the object on the effector, so that it is ensured that the object is stripped off the object of wiping by the movement.
- corresponding movements B are determined and predetermined for different positions and / or orientations of an object adhering to the effector.
- the wiping object is a funnel
- the control unit being adapted and arranged to execute the following control program: controlling the robot manipulator such that the effector wipes off the adherent object at the edge of the funnel so that it falls into the funnel.
- An advantageous development of the robot according to the first or second alternative is characterized in that the wiping object is a kind of carpet, and the control unit is designed and arranged to control the robot manipulator such that the effector wipes the adherent object to the carpet.
- An advantageous development of the robot according to the first or second alternative is characterized in that the robot manipulator is force-controlled and / or impedance and / or admittance-controlled, and the control unit is designed and configured to execute the following control program: if during stripping of the stripping object externally acting on the robot arm
- the "predetermined state” is advantageously a rest pose, i.e. the robot manipulator moves into the rest pose and remains there.
- the robot has a data interface to a data network (eg Internet, LAN, Local Area Network), and the robot is set up and designed to load control programs for the control unit from the data network.
- a data network eg Internet, LAN, Local Area Network
- the robot advantageously has a data interface and a corresponding program memory.
- the control programs are advantageous from a central provider in the respective data network made available.
- the data network is advantageously a wired data network, a wireless data network or a combination thereof.
- the robot is set up and executed, control and
- control and regulation parameters define the concrete application of the corresponding control program.
- the control and regulation parameters are adapted in particular to the task to be solved.
- the robot has a corresponding data storage for this purpose.
- the robot is set up and executed, control and
- a manual input interface of the robot for example a human-machine interface available in the area of the robot
- a "teach-in process” in which the robot manipulator is manually guided, ie moved by applying a force by a user
- the robot is set up and running that loading of
- Control parameters from the data network from a remote station, which is also connected to the data network is controlled.
- remote stations can be, for example, tablet PCs, smartphones, notebooks, personal computers, etc.
- a remote station is operated by a central provider.
- the robot is set up and executed to locally transmit in the robot control programs and / or associated control and regulation parameters to request from a participant in the data network and / or autonomously, for example.
- a predetermined condition to send to other participants in the data network.
- Such a "subscriber" can in principle be any computer and / or memory unit set up for this data exchange.
- the robot is set up and executed, control programs loaded locally on / in the robot with the associated control and monitoring units
- Control parameters from a remote station which is also connected to the data network is connected to start.
- Such remote stations can be, for example, tablet PCs, smartphones, notebooks, personal computers, etc.
- a remote station is operated by a central provider.
- the remote station and / or the manual input interface on the robot to a human-machine interface, which is used to enter
- Control programs and / or associated control and regulation parameters and / or for selecting control programs and / or associated control and regulation parameters from a plurality of available control programs and / or associated control and regulation parameters, and
- the human-machine interface allows inputs via a "drag-and-drop" input on a touch screen, a guided input dialog, a keyboard, a computer mouse, a haptic input interface, a virtual reality glasses, an acoustic input interface, a Body tracking, based on
- Electromyography data based on electroencephalography data, via a neural interface to the operator's brain or combinations thereof.
- the human-machine interface is designed and configured to output audiovisual, haptic, olfactory, tactile, electrical feedback or a combination thereof.
- a further aspect of the invention according to a first alternative relates to a method for operating a robot having a robot manipulator with an effector, wherein the robot manipulator is designed and arranged for picking up, handling and releasing an object and controlled in accordance with a control program by a control unit becomes.
- the control unit carries out a control program with the following steps: controlling the robot manipulator according to a control program-based release of an object by the effector in such a way that a predetermined movement is carried out, in which the effector with the object still adhering to the effector is guided past a stripping object in such a way that the adherent object is on the surface of the
- Another aspect of the invention relates to a method according to the second alternative to the operation of a robot having a robot manipulator with an effector, wherein the robot manipulator is constructed and arranged to receive, handle and release an object and is controlled in accordance with a control program by a control unit.
- the robot manipulator in this case comprises a first sensor means, by means of which, after a control program-specific release of the object by the effector, a further existing adhesion of the object to the effector is determined. In the presence of such a still existing adhesion, a signal S is generated by the first sensor means.
- the control unit is set up and designed such that in the presence of a signal S, the robot manipulator is controlled so that it performs a predetermined movement B, in which the effector with the object still adhering to a stripping object is guided past such that the adhering object to the Surface of the stripper object is stripped off.
- the first sensor means comprises a mechanical contact sensor, an ultrasonic sensor or an electromagnetic sensor or an optical sensor or a force sensor or a moment sensor or a combination thereof, wherein the sensor / sensors in / is arranged on the robot manipulator, in particular on the effector, and wherein the sensor means is designed and configured to execute the following control program: generating the signal S when the first sensor means determines a further adhesion of the released object by evaluating the sensor data of the corresponding sensor (s) ,
- An advantageous development of the method according to the second alternative is characterized in that the determination of a collision of the robot manipulator, in particular a collision in the area of the effector, with surrounding objects or with the robot itself by the second sensor means on the basis of measured data of one or more sensors and / or based on at least one algorithm applied to the measurement data.
- the one or more sensors are advantageous in the
- Robot manipulator integrated and provide appropriate measurement data.
- An advantageous development of the method according to the first or second alternative is characterized in that the stripping object has an edge, and the control unit executes the following control program: controlling the
- Robot manipulator such that the effector strips off the adherent object at the edge.
- Control unit performs the following control program: controlling the robot manipulator such that the effector strips the adherent object at the edge of the hopper so that it falls into the hopper.
- Control unit executes the following control program: controlling the robot manipulator such that the effector strips the adherent object on the carpet.
- Robotemanipulator is controlled so that it assumes a predetermined state.
- An advantageous development of the method according to the first or second alternative is characterized in that the robot has a data interface to a data network, and the device is set up and configured to load one or more control programs from the data network.
- An advantageous development of the method according to the first or second alternative is characterized in that the robot has a data interface to a data network, and the robot is set up and configured to load one or more control programs from the data network.
- An advantageous development of the method according to the first or second alternative is characterized by the fact that the robot loads control and regulation parameters into control programs from the data network.
- An advantageous development of the method according to the first or second alternative is characterized in that the loading of control programs and / or associated control and regulation parameters from the data network to the robot from a remote station, which is also connected to the data network controlled becomes.
- An advantageous development of the method according to the first or second alternative is characterized in that a locally present on the robot
- Another aspect of the invention relates to a computer system having a
- Data processing device wherein the data processing device is configured such that a method as described above, on the
- Data processing device is executed.
- Another aspect of the invention relates to a digital storage medium having electronically readable control signals, wherein the control signals may interact with a programmable computer system such that a method as described above is performed.
- Another aspect of the invention relates to a computer program product having program code stored on a machine-readable carrier for performing the method
- a further aspect of the invention relates to a computer program with program codes for carrying out the method, as described above, when the program runs on a data processing device. This can be the
- Data processing device may be configured as any known from the prior art computer system.
- Fig. 1 shows a highly schematic structure of the proposed robot, as well
- Fig. 2 is a highly schematic flowchart of the proposed method.
- Fig. 1 shows a highly schematic structure of the proposed robot, comprising a robot manipulator 101 with an effector, wherein the
- Robot manipulator 101 is designed and arranged for picking up and handling an object and is controlled in accordance with a control program by a control unit 103, comprising a first sensor means 105, which is designed and arranged for a control program according to a separation of the object from the effector, a further existing sticking of the object at the effector, and to generate a signal S in the presence of such persisting sticking, the control unit 103 being designed and arranged to do the following
- Robot manipulator 101 such that it performs at least one predetermined movement, wherein the effector with the still adhering object to a
- the Stripping object 104 is introduced such that the adherent object is stripped on the surface of the Abstreifmenstandes 104.
- the sensor means 105 comprises a mechanical contact sensor, an ultrasonic sensor and an optical sensor, wherein the sensors are arranged in / on the robot manipulator.
- the first sensor means 105 is designed and configured to generate a signal S when the first sensor means 105 by evaluating the
- the robot has a second sensor means 106, with which collisions of the robot manipulator 101 with environmental objects are determined, wherein the second sensor means 106 is adapted and configured to execute the following control program: if a movement of the robot manipulator 101 after a control program according to separation of an object from Effector and before the
- FIG. 2 is a highly schematic flowchart of a proposed method for controlling a robot having a robot manipulator 101 with an effector, wherein the robot manipulator 101 is configured and arranged for picking up and handling an object and controlled by a control unit 103 according to a control program becomes.
- the method comprises the following steps.
- a step 201 a first sensor means is used to determine a separation of the object from the effector according to a control program
- a signal S is generated.
- the control unit 103 controls the robot manipulator 101 in the presence of a signal S in such a way that it performs at least one predetermined movement the effector with the object still adhering to a stripping object 104 is brought in such a way that the adhering object is stripped off at the surface of the stripping object 104.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
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 |
---|---|
EP3615280A1 true EP3615280A1 (de) | 2020-03-04 |
Family
ID=62027991
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18719125.9A Withdrawn EP3615280A1 (de) | 2017-04-23 | 2018-04-18 | Roboter und verfahren zur steuerung eines roboters |
Country Status (8)
Country | Link |
---|---|
US (1) | US11420333B2 (de) |
EP (1) | EP3615280A1 (de) |
JP (1) | JP7039056B2 (de) |
KR (1) | KR102383897B1 (de) |
CN (1) | CN110536782A (de) |
DE (1) | DE102017118983B4 (de) |
SG (1) | SG11201909831QA (de) |
WO (1) | WO2018197295A1 (de) |
Families Citing this family (4)
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 |
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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 |
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2017
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- 2018-04-18 CN CN201880026412.9A patent/CN110536782A/zh active Pending
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KR102383897B1 (ko) | 2022-04-08 |
SG11201909831QA (en) | 2019-11-28 |
US20200384651A1 (en) | 2020-12-10 |
JP7039056B2 (ja) | 2022-03-22 |
CN110536782A (zh) | 2019-12-03 |
DE102017118983A1 (de) | 2018-10-25 |
DE102017118983B4 (de) | 2019-10-02 |
WO2018197295A1 (de) | 2018-11-01 |
KR20200002971A (ko) | 2020-01-08 |
JP2020517476A (ja) | 2020-06-18 |
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