NO3038799T3 - - Google Patents
Info
- Publication number
- NO3038799T3 NO3038799T3 NO14776916A NO14776916A NO3038799T3 NO 3038799 T3 NO3038799 T3 NO 3038799T3 NO 14776916 A NO14776916 A NO 14776916A NO 14776916 A NO14776916 A NO 14776916A NO 3038799 T3 NO3038799 T3 NO 3038799T3
- Authority
- NO
- Norway
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
-
- 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
- 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
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
- G01L5/0066—Calibration 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
- G05B19/18—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
- G05B19/401—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 control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
-
- 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
- G05B2219/39183—Compliance compensation
-
- 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
- G05B2219/39186—Flexible joint
-
- 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
- G05B2219/40527—Modeling, identification of link parameters
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1350981A SE537534C2 (sv) | 2013-08-27 | 2013-08-27 | Metod och system för bestämning av åtminstone en egenskap hos en manipulator |
| PCT/SE2014/050965 WO2015030650A2 (en) | 2013-08-27 | 2014-08-25 | Method and system for determination of at least one property of a manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| NO3038799T3 true NO3038799T3 (no) | 2018-01-06 |
Family
ID=51626574
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| NO14776916A NO3038799T3 (no) | 2013-08-27 | 2014-08-25 |
Country Status (12)
| Country | Link |
|---|---|
| US (1) | US9908238B2 (no) |
| EP (1) | EP3038799B1 (no) |
| CN (1) | CN105682865B (no) |
| AU (1) | AU2014311922B2 (no) |
| CA (1) | CA2922631C (no) |
| DK (1) | DK3038799T3 (no) |
| ES (1) | ES2644939T3 (no) |
| NO (1) | NO3038799T3 (no) |
| PL (1) | PL3038799T3 (no) |
| RU (1) | RU2672654C2 (no) |
| SE (1) | SE537534C2 (no) |
| WO (1) | WO2015030650A2 (no) |
Families Citing this family (50)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10383765B2 (en) | 2012-04-24 | 2019-08-20 | Auris Health, Inc. | Apparatus and method for a global coordinate system for use in robotic surgery |
| AT514116A1 (de) * | 2013-04-09 | 2014-10-15 | Ttcontrol Gmbh | Regelsystem und Verfahren zum Steuern der Orientierung eines Segments eines Manipulators |
| US10759634B2 (en) * | 2014-08-08 | 2020-09-01 | GM Global Technology Operations LLC | Electromechanical system for interaction with an operator |
| US10499999B2 (en) | 2014-10-09 | 2019-12-10 | Auris Health, Inc. | Systems and methods for aligning an elongate member with an access site |
| WO2016151360A1 (en) * | 2015-03-23 | 2016-09-29 | National Research Council Of Canada | Multi-jointed robot deviation under load determination |
| DE102015108473A1 (de) * | 2015-05-28 | 2016-12-01 | Schwing Gmbh | Großmanipulator mit schnell ein- und ausfaltbarem Knickmast |
| DE202015008715U1 (de) * | 2015-12-18 | 2017-03-21 | Kuka Roboter Gmbh | Bediengerät zum Steuern oder Programmieren eines Manipulators |
| EP3436876B1 (en) | 2016-03-29 | 2021-07-07 | Cognibotics AB | Method, constraining device and system for determining geometric properties of a manipulator |
| US10987816B2 (en) * | 2016-04-01 | 2021-04-27 | Korea Institute Of Machinery & Materials | Passive stiffness gripper |
| JP6755724B2 (ja) * | 2016-06-20 | 2020-09-16 | キヤノン株式会社 | 制御方法、ロボットシステム、および物品の製造方法 |
| JP6986373B2 (ja) * | 2017-06-21 | 2021-12-22 | 川崎重工業株式会社 | ロボットシステム及びロボットシステムの制御方法 |
| CN110809452B (zh) | 2017-06-28 | 2023-05-23 | 奥瑞斯健康公司 | 电磁场发生器对准 |
| JP7330902B2 (ja) | 2017-06-28 | 2023-08-22 | オーリス ヘルス インコーポレイテッド | 電磁歪み検出 |
| EP3424650B1 (en) * | 2017-07-07 | 2022-12-21 | Siemens Aktiengesellschaft | A method and apparatus for performing control of a movement of a robot arm |
| CN107186460A (zh) * | 2017-07-10 | 2017-09-22 | 上海新时达电气股份有限公司 | 工业机器人进行轴孔装配的方法及其*** |
| TWI630080B (zh) * | 2017-07-11 | 2018-07-21 | 朱朝濱 | All-in-one robot arm assembly structure |
| EP3444078B1 (en) | 2017-08-17 | 2023-07-05 | Siemens Healthcare GmbH | Method for tracking a hand-guided robot, hand-guided robot, computer program, and electronically readable storage medium |
| EP3444077A1 (en) * | 2017-08-17 | 2019-02-20 | Siemens Healthcare GmbH | Method for determining a current position of a robot end effector and robotic system |
| EP3444079B1 (en) * | 2017-08-17 | 2022-02-16 | Siemens Healthcare GmbH | Method and robotic system for operating a hand-guided robot |
| JP7007839B2 (ja) * | 2017-08-31 | 2022-01-25 | 川崎重工業株式会社 | 多関節ロボット |
| US10464209B2 (en) | 2017-10-05 | 2019-11-05 | Auris Health, Inc. | Robotic system with indication of boundary for robotic arm |
| US10016900B1 (en) * | 2017-10-10 | 2018-07-10 | Auris Health, Inc. | Surgical robotic arm admittance control |
| CN108187310B (zh) * | 2017-12-21 | 2019-05-31 | 东南大学 | 基于力觉信息和姿态信息的肢体运动意图理解与上肢康复训练机器人及其控制方法 |
| US11084169B2 (en) * | 2018-05-23 | 2021-08-10 | General Electric Company | System and method for controlling a robotic arm |
| DE102018004947B3 (de) * | 2018-06-22 | 2019-07-18 | Sew-Eurodrive Gmbh & Co Kg | Verfahren zur Steuerung von Antrieben eines Roboters und Robotersystem |
| CN108959829B (zh) * | 2018-08-16 | 2020-04-07 | 居鹤华 | 基于轴不变量的非理想关节机器人动力学建模方法 |
| WO2020047713A1 (en) * | 2018-09-03 | 2020-03-12 | Abb Schweiz Ag | Method and apparatus for managing robot system |
| CN109732596B (zh) * | 2018-12-29 | 2021-06-15 | 南京工程学院 | 基于六维虚拟关节模型的工业机器人刚度辨识***及其辨识方法 |
| CN112105484B (zh) * | 2019-05-24 | 2023-05-05 | 深圳配天智能技术研究院有限公司 | 机器人运动学参数自标定方法、***及存储装置 |
| US11478931B2 (en) * | 2019-06-25 | 2022-10-25 | Disney Enterprises, Inc. | Computational vibration suppression for robotic systems |
| JP7494290B2 (ja) | 2019-09-03 | 2024-06-03 | オーリス ヘルス インコーポレイテッド | 電磁歪み検出及び補償 |
| CN112611498B (zh) * | 2019-09-18 | 2022-02-01 | 马洪文 | 基于并联杆系多维力传感器的多维力获取方法 |
| CN112611497B (zh) * | 2019-09-18 | 2022-01-28 | 马洪文 | 并联杆系多维力传感器结构 |
| CN112611499B (zh) * | 2019-09-18 | 2022-01-28 | 马洪文 | 多维力传感器的负载平台微位移测量方法及测量敏感元件的安装方法 |
| CN110674601B (zh) * | 2019-09-25 | 2022-10-14 | 福州大学 | 五轴动梁龙门立式铣床多位姿有限元建模方法 |
| CN110757454B (zh) * | 2019-10-12 | 2022-08-16 | 广州中国科学院先进技术研究所 | 一种双机器人协同旋转的路径规划方法和装置 |
| US11691281B2 (en) * | 2019-11-08 | 2023-07-04 | Massachusetts Institute Of Technology | Robot control at singular configurations |
| CN110962124B (zh) * | 2019-12-05 | 2022-12-27 | 齐鲁工业大学 | 切削加工机器人静态误差补偿与动刚度模型的修正方法 |
| CN111037350B (zh) * | 2019-12-13 | 2021-09-28 | 北京动力机械研究所 | 机床自动化上料*** |
| CN111189577B (zh) * | 2020-01-16 | 2022-01-07 | 腾讯科技（深圳）有限公司 | 传感器标定及数据测量方法、装置、设备、存储介质 |
| US12017369B2 (en) * | 2020-10-05 | 2024-06-25 | Verb Surgical Inc. | Null space control for end effector joints of a robotic instrument |
| CN112383685B (zh) * | 2020-11-02 | 2023-05-02 | 北京如影智能科技有限公司 | 一种盛放装置及控制方法、控制装置 |
| US11745343B2 (en) * | 2020-11-18 | 2023-09-05 | Darrion Vinh Nguyen | Method and apparatus for controlling robot arms using elastic distortion simulations |
| US11826910B2 (en) * | 2021-05-20 | 2023-11-28 | Carnegie Mellon University | Direct drive end-effectors with parallel kinematics |
| CN113654747B (zh) * | 2021-09-26 | 2024-04-16 | 珠海格力智能装备有限公司 | 机器人的关节刚度的检测方法、装置和机器人 |
| CN113910238B (zh) * | 2021-11-06 | 2023-05-30 | 中国船舶集团有限公司第七一六研究所 | 机器人刚度建模、辨识与修正方法及实验*** |
| CN114290331B (zh) * | 2021-12-14 | 2023-06-23 | 中国科学院深圳先进技术研究院 | 机器人运动控制方法、机器人及计算机可读存储装置 |
| CN115502981B (zh) * | 2022-10-25 | 2024-04-19 | 华中科技大学 | 一种基于动柔度分布的机器人铣削进给方向优化方法 |
| CN115533922B (zh) * | 2022-11-29 | 2023-03-17 | 北京航空航天大学杭州创新研究院 | 位姿关系标定方法及装置、计算机设备和可读存储介质 |
| CN116652794B (zh) * | 2023-06-16 | 2024-06-07 | 浙江大学 | 一种七轴六联动结构柔性研抛机床 |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4973215A (en) * | 1986-02-18 | 1990-11-27 | Robotics Research Corporation | Industrial robot with servo |
| US4967126A (en) * | 1990-01-30 | 1990-10-30 | Ford Aerospace Corporation | Method of controlling a seven degree of freedom manipulator arm |
| US5347459A (en) * | 1993-03-17 | 1994-09-13 | National Research Council Of Canada | Real time collision detection |
| US6321137B1 (en) * | 1997-09-04 | 2001-11-20 | Dynalog, Inc. | Method for calibration of a robot inspection system |
| JP3928041B2 (ja) * | 2002-08-06 | 2007-06-13 | 独立行政法人産業技術総合研究所 | 機器操作用パラレル機構及びその設計方法 |
| DE102004028557A1 (de) * | 2004-06-15 | 2006-02-16 | Abb Patent Gmbh | Verfahren und System zur Zustandsbewertung von wenigstens einem Achsgelenk |
| WO2006107664A2 (en) * | 2005-04-01 | 2006-10-12 | Trustees Of Stevens Institute Of Technology | Flexible parallel manipulator for nano-, meso-or macro-positioning with multi-degrees of freedom |
| FR2917322B1 (fr) * | 2007-06-15 | 2009-08-28 | Commissariat Energie Atomique | Procede de calibration de la position d'un systeme poly-articule, notamment d'un robot |
| WO2009149740A1 (en) * | 2008-06-09 | 2009-12-17 | Abb Technology Ab | A method and a system for facilitating calibration of an off-line programmed robot cell |
| WO2012140770A1 (ja) * | 2011-04-14 | 2012-10-18 | 三菱電機株式会社 | ロボット制御装置 |
| KR102050895B1 (ko) * | 2011-09-28 | 2020-01-08 | 유니버셜 로보츠 에이/에스 | 로봇의 캘리브레이션 및 프로그래밍 |
| EP2763818B1 (en) * | 2011-10-03 | 2021-12-01 | ABB Schweiz AG | Condition monitoring of an industrial robot |
| JP2013184236A (ja) * | 2012-03-06 | 2013-09-19 | Jtekt Corp | ロボットのキャリブレーション方法及びキャリブレーション装置 |
| JP5938954B2 (ja) * | 2012-03-06 | 2016-06-22 | 株式会社ジェイテクト | ロボットのキャリブレーション方法及びキャリブレーション装置 |
| SE536708C2 (sv) * | 2012-10-23 | 2014-06-10 | Cognibotics Ab | Metod och system för bestämning av minst en egenskap hos enmanipulator |
| WO2014176334A1 (en) * | 2013-04-23 | 2014-10-30 | Northwestern University | Translational parallel manipulators and methods of operating the same |
-
2013
- 2013-08-27 SE SE1350981A patent/SE537534C2/sv unknown
-
2014
- 2014-08-25 DK DK14776916.0T patent/DK3038799T3/da active
- 2014-08-25 ES ES14776916.0T patent/ES2644939T3/es active Active
- 2014-08-25 WO PCT/SE2014/050965 patent/WO2015030650A2/en active Application Filing
- 2014-08-25 CN CN201480058678.3A patent/CN105682865B/zh active Active
- 2014-08-25 CA CA2922631A patent/CA2922631C/en active Active
- 2014-08-25 NO NO14776916A patent/NO3038799T3/no unknown
- 2014-08-25 RU RU2016107758A patent/RU2672654C2/ru active
- 2014-08-25 AU AU2014311922A patent/AU2014311922B2/en active Active
- 2014-08-25 PL PL14776916T patent/PL3038799T3/pl unknown
- 2014-08-25 EP EP14776916.0A patent/EP3038799B1/en active Active
- 2014-08-25 US US14/913,966 patent/US9908238B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| DK3038799T3 (da) | 2017-11-20 |
| CN105682865A (zh) | 2016-06-15 |
| AU2014311922B2 (en) | 2018-01-18 |
| SE537534C2 (sv) | 2015-06-02 |
| CA2922631A1 (en) | 2015-03-05 |
| EP3038799B1 (en) | 2017-08-09 |
| RU2016107758A (ru) | 2017-10-03 |
| US9908238B2 (en) | 2018-03-06 |
| ES2644939T3 (es) | 2017-12-01 |
| WO2015030650A2 (en) | 2015-03-05 |
| EP3038799A2 (en) | 2016-07-06 |
| WO2015030650A3 (en) | 2015-06-25 |
| CN105682865B (zh) | 2018-03-16 |
| AU2014311922A1 (en) | 2016-03-10 |
| US20160221189A1 (en) | 2016-08-04 |
| PL3038799T3 (pl) | 2018-01-31 |
| RU2672654C2 (ru) | 2018-11-16 |
| CA2922631C (en) | 2021-06-15 |
| SE1350981A1 (sv) | 2015-02-28 |
| RU2016107758A3 (no) | 2018-09-24 |
| WO2015030650A4 (en) | 2015-07-23 |