IT1401977B1 - Apparecchiatura robotizzata con dispositivo di sicurezza perfezionato e metodo di controllo per la verifica in tempo reale delle grandezze cinematiche di stato dell'apparecchiatura robotizzata. - Google Patents

Apparecchiatura robotizzata con dispositivo di sicurezza perfezionato e metodo di controllo per la verifica in tempo reale delle grandezze cinematiche di stato dell'apparecchiatura robotizzata.

Info

Publication number
IT1401977B1
IT1401977B1 ITMI2010A001767A ITMI20101767A IT1401977B1 IT 1401977 B1 IT1401977 B1 IT 1401977B1 IT MI2010A001767 A ITMI2010A001767 A IT MI2010A001767A IT MI20101767 A ITMI20101767 A IT MI20101767A IT 1401977 B1 IT1401977 B1 IT 1401977B1
Authority
IT
Italy
Prior art keywords
robotic equipment
real
control method
state
safety device
Prior art date
Application number
ITMI2010A001767A
Other languages
English (en)
Inventor
Federico Vicentini
Matteo Malosio
Nicola Pedrocchi
Original Assignee
C N R Consiglio Naz Ricerche
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 C N R Consiglio Naz Ricerche filed Critical C N R Consiglio Naz Ricerche
Priority to ITMI2010A001767A priority Critical patent/IT1401977B1/it
Priority to PCT/IB2011/054246 priority patent/WO2012042470A1/en
Priority to EP11778694.7A priority patent/EP2621688A1/en
Priority to US13/876,354 priority patent/US20130245825A1/en
Publication of ITMI20101767A1 publication Critical patent/ITMI20101767A1/it
Application granted granted Critical
Publication of IT1401977B1 publication Critical patent/IT1401977B1/it

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
    • B25J9/1674—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
    • B25J9/1694—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
    • 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
    • G05B2219/37497—Summing, integration of signal
    • 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
    • G05B2219/37546—Compare two positions measured with different methods, alarm if difference too high
    • 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
    • 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
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Safety Devices In Control Systems (AREA)
ITMI2010A001767A 2010-09-28 2010-09-28 Apparecchiatura robotizzata con dispositivo di sicurezza perfezionato e metodo di controllo per la verifica in tempo reale delle grandezze cinematiche di stato dell'apparecchiatura robotizzata. IT1401977B1 (it)

Priority Applications (4)

Application Number Priority Date Filing Date Title
ITMI2010A001767A IT1401977B1 (it) 2010-09-28 2010-09-28 Apparecchiatura robotizzata con dispositivo di sicurezza perfezionato e metodo di controllo per la verifica in tempo reale delle grandezze cinematiche di stato dell'apparecchiatura robotizzata.
PCT/IB2011/054246 WO2012042470A1 (en) 2010-09-28 2011-09-27 Safety device for the safe use of industrial apparatuses and robots, and control method for realtime verification of the kinematic state values of a robotized apparatus
EP11778694.7A EP2621688A1 (en) 2010-09-28 2011-09-27 Safety device for the safe use of industrial apparatuses and robots, and control method for realtime verification of the kinematic state values of a robotized apparatus
US13/876,354 US20130245825A1 (en) 2010-09-28 2011-09-27 Safety device for the safe use of industrial apparatuses and robots, and control method for realtime verification of the kinematic state values of a robotized apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITMI2010A001767A IT1401977B1 (it) 2010-09-28 2010-09-28 Apparecchiatura robotizzata con dispositivo di sicurezza perfezionato e metodo di controllo per la verifica in tempo reale delle grandezze cinematiche di stato dell'apparecchiatura robotizzata.

Publications (2)

Publication Number Publication Date
ITMI20101767A1 ITMI20101767A1 (it) 2012-03-29
IT1401977B1 true IT1401977B1 (it) 2013-08-28

Family

ID=43738966

Family Applications (1)

Application Number Title Priority Date Filing Date
ITMI2010A001767A IT1401977B1 (it) 2010-09-28 2010-09-28 Apparecchiatura robotizzata con dispositivo di sicurezza perfezionato e metodo di controllo per la verifica in tempo reale delle grandezze cinematiche di stato dell'apparecchiatura robotizzata.

Country Status (4)

Country Link
US (1) US20130245825A1 (it)
EP (1) EP2621688A1 (it)
IT (1) IT1401977B1 (it)
WO (1) WO2012042470A1 (it)

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* Cited by examiner, † Cited by third party
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JP5949911B2 (ja) * 2012-05-21 2016-07-13 株式会社安川電機 ロボット
EP2835249B1 (en) * 2013-08-08 2019-03-06 ABB Schweiz AG Printing system for three-dimensional objects
DE102013221899B4 (de) * 2013-10-29 2022-05-25 Volkswagen Aktiengesellschaft Industrieroboter
EP3148752B1 (en) * 2014-05-09 2022-01-19 Carnegie Mellon University Systems and methods for modular units in electro-mechanical systems
SG11201709621TA (en) 2015-05-21 2017-12-28 Kastanienbaum GmbH Method and device for open-loop/closed-loop control of an actuator-driven robot joint
FR3063667B1 (fr) * 2017-03-13 2019-04-19 Staubli Faverges Procede de commande d'une cellule de travail automatisee
DE102017111885B4 (de) 2017-05-31 2019-06-27 Sick Ag Verfahren und System zum Überwachen einer Maschine
DE102017111886B3 (de) 2017-05-31 2018-05-03 Sick Ag Bestimmen der Bewegung einer abzusichernden Maschine
DE202017104603U1 (de) 2017-08-01 2018-11-06 Sick Ag System zum Absichern einer Maschine
CN109591050A (zh) * 2017-09-30 2019-04-09 西门子公司 安全跟踪***、装置、方法、存储介质及安全***
EP3650740B1 (de) 2018-11-06 2020-12-30 Sick Ag Sicherheitssystem und verfahren zum überwachen einer maschine
CN110456392B (zh) * 2019-08-23 2021-05-11 北京建筑大学 一种建筑塔机横臂位置精准定位可靠性验证方法
US11378934B2 (en) * 2019-09-09 2022-07-05 Baker Hughes Oilfield Operations Llc Shadow function for protection monitoring systems
EP4008497A1 (de) * 2020-12-04 2022-06-08 Sick Ag Validieren einer pose eines roboters
CN112720503A (zh) * 2021-01-12 2021-04-30 深圳康诺思腾科技有限公司 一种机器人设备及其控制方法

Family Cites Families (8)

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Publication number Priority date Publication date Assignee Title
US5495158A (en) * 1994-09-30 1996-02-27 Allen-Bradley Company, Inc. Apparatus and method used with AC motors for controlling motor operation
US6356807B1 (en) * 1999-08-13 2002-03-12 Fanuc Robotics North America, Inc. Method of determining contact positions, calibration parameters, and reference frames for robot assemblies
DE102004026185A1 (de) * 2004-05-28 2005-12-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters
US20060178775A1 (en) * 2005-02-04 2006-08-10 George Zhang Accelerometer to monitor movement of a tool assembly attached to a robot end effector
WO2008108788A2 (en) * 2006-05-31 2008-09-12 Trx Systems, Inc. Method and system for locating and monitoring first responders
US20100042357A1 (en) * 2008-08-15 2010-02-18 Oceaneering International, Inc. Manipulator Position Sensor System
DE202008012487U1 (de) * 2008-09-19 2010-02-18 Tabatabaei, Nejat Mahdavi, Dr.-Ing. Inertiales Bahnvermessungsgerät zur Kalibrierung von Werkzeugmaschinen und Robotern
JP5685842B2 (ja) * 2010-07-12 2015-03-18 セイコーエプソン株式会社 ロボット装置およびロボット装置の制御方法

Also Published As

Publication number Publication date
ITMI20101767A1 (it) 2012-03-29
EP2621688A1 (en) 2013-08-07
WO2012042470A1 (en) 2012-04-05
US20130245825A1 (en) 2013-09-19

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