SE9400579L - Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter - Google Patents

Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter

Info

Publication number
SE9400579L
SE9400579L SE9400579A SE9400579A SE9400579L SE 9400579 L SE9400579 L SE 9400579L SE 9400579 A SE9400579 A SE 9400579A SE 9400579 A SE9400579 A SE 9400579A SE 9400579 L SE9400579 L SE 9400579L
Authority
SE
Sweden
Prior art keywords
robot
tool
singularity
axes
orientation
Prior art date
Application number
SE9400579A
Other languages
English (en)
Other versions
SE9400579D0 (sv
Inventor
John-Erik Snell
Original Assignee
Asea Brown Boveri
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 Asea Brown Boveri filed Critical Asea Brown Boveri
Priority to SE9400579A priority Critical patent/SE9400579L/sv
Publication of SE9400579D0 publication Critical patent/SE9400579D0/sv
Priority to US08/387,231 priority patent/US5590034A/en
Priority to EP95102241A priority patent/EP0672507A1/en
Priority to JP7032094A priority patent/JPH07281722A/ja
Publication of SE9400579L publication Critical patent/SE9400579L/sv

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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • 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
    • G05B2219/39081—Inexact solution for orientation or other DOF with relation to type of task
    • 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
    • G05B2219/40328—If joint near singularity, restore angle to start values, adapt other joints

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
SE9400579A 1994-02-21 1994-02-21 Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter SE9400579L (sv)

Priority Applications (4)

Application Number Priority Date Filing Date Title
SE9400579A SE9400579L (sv) 1994-02-21 1994-02-21 Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter
US08/387,231 US5590034A (en) 1994-02-21 1995-02-13 Method for controlling the movement of an industrial robot at and near singularities
EP95102241A EP0672507A1 (en) 1994-02-21 1995-02-18 Method for controlling the movements of an industrial robot at and near singularities
JP7032094A JPH07281722A (ja) 1994-02-21 1995-02-21 工業用ロボットを制御する方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9400579A SE9400579L (sv) 1994-02-21 1994-02-21 Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter

Publications (2)

Publication Number Publication Date
SE9400579D0 SE9400579D0 (sv) 1994-02-21
SE9400579L true SE9400579L (sv) 1995-08-22

Family

ID=20393013

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9400579A SE9400579L (sv) 1994-02-21 1994-02-21 Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter

Country Status (4)

Country Link
US (1) US5590034A (sv)
EP (1) EP0672507A1 (sv)
JP (1) JPH07281722A (sv)
SE (1) SE9400579L (sv)

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CN109159121A (zh) * 2018-09-12 2019-01-08 浙江工业大学 采用抛物线型终态神经网络的冗余机器人重复运动规划方法

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SE505981C2 (sv) * 1996-02-14 1997-10-27 Asea Brown Boveri Förfarande för styrning av en industrirobot med hänsyn till moment och belastning
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US6128556A (en) * 1998-03-16 2000-10-03 Honeywell International Inc. CMG control based on angular momentum to control satellite attitude
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US6456901B1 (en) 2001-04-20 2002-09-24 Univ Michigan Hybrid robot motion task level control system
US6845295B2 (en) * 2002-03-07 2005-01-18 Fanuc Robotics America, Inc. Method of controlling a robot through a singularity
DE10333456A1 (de) * 2003-07-22 2005-02-24 Kuka Schweissanlagen Gmbh Verfahren und Vorrichtung zum Laserbearbeiten von Werkstücken
DE102004021468A1 (de) * 2004-04-30 2005-11-24 Kuka Roboter Gmbh Verfahren zum Steuern einer Maschine, insbesondere eines Industrieroboters
US8010235B2 (en) * 2005-05-31 2011-08-30 The Boeing Company Approaching and compensating for machine kinematic singularities
US20070012729A1 (en) * 2005-07-18 2007-01-18 Laura Ort Glue gun apparatus with remote operating mechanism
KR101220121B1 (ko) * 2006-06-30 2013-01-11 스타 마이크로닉스 컴퍼니 리미티드 이동체의 이동 제어 장치, 이동체의 이동 제어 방법 및공작 기계의 이동 제어 장치
US8024068B2 (en) 2006-08-04 2011-09-20 Hurco Companies, Inc. Machine tool control system
US8725283B2 (en) 2006-08-04 2014-05-13 Hurco Companies, Inc. Generalized kinematics system
JP2010036293A (ja) * 2008-08-04 2010-02-18 Jtekt Corp 多関節ロボット
NZ603415A (en) 2010-06-03 2014-05-30 Delaval Holding Ab A milking robot, and a milking arrangement
US8606403B2 (en) 2010-12-14 2013-12-10 Harris Corporation Haptic interface handle with force-indicating trigger mechanism
US8918214B2 (en) 2011-01-19 2014-12-23 Harris Corporation Telematic interface with directional translation
US8918215B2 (en) 2011-01-19 2014-12-23 Harris Corporation Telematic interface with control signal scaling based on force sensor feedback
US9205555B2 (en) 2011-03-22 2015-12-08 Harris Corporation Manipulator joint-limit handling algorithm
US8694134B2 (en) 2011-05-05 2014-04-08 Harris Corporation Remote control interface
US8639386B2 (en) 2011-05-20 2014-01-28 Harris Corporation Haptic device for manipulator and vehicle control
US20150127154A1 (en) * 2011-06-02 2015-05-07 Brain Corporation Reduced degree of freedom robotic controller apparatus and methods
US9026250B2 (en) 2011-08-17 2015-05-05 Harris Corporation Haptic manipulation system for wheelchairs
US8996244B2 (en) 2011-10-06 2015-03-31 Harris Corporation Improvised explosive device defeat system
US9223754B2 (en) * 2012-06-29 2015-12-29 Dassault Systèmes, S.A. Co-simulation procedures using full derivatives of output variables
CN104718054B (zh) * 2012-08-15 2017-03-01 直观外科手术操作公司 操纵机械体的活动的假想自由度(dof)
WO2014028563A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Phantom degrees of freedom in joint estimation and control
US8954195B2 (en) 2012-11-09 2015-02-10 Harris Corporation Hybrid gesture control haptic system
US8965620B2 (en) 2013-02-07 2015-02-24 Harris Corporation Systems and methods for controlling movement of unmanned vehicles
US9128507B2 (en) 2013-12-30 2015-09-08 Harris Corporation Compact haptic interface
CN103970020B (zh) * 2014-05-21 2016-08-31 北京航空航天大学 移动机器人***及其在混合交互环境下的协调控制方法
US10758313B2 (en) 2015-10-07 2020-09-01 Intuitive Surgical Operations, Inc. Controlling roll for a device in a computer-assisted medical system
WO2017062372A1 (en) * 2015-10-07 2017-04-13 Intuitive Surgical Operations, Inc. Roll control based on pitch and yaw inputs for a device in a computer-assisted medical system
EP3387496A4 (en) * 2015-12-11 2019-07-31 ABB Schweiz AG PROCESS OFFLINE PROGRAMMING OF A ROBOT AND DEVICE USING THE PROCESS
JP6565752B2 (ja) 2016-03-17 2019-08-28 株式会社安川電機 ロボット制御装置及びロボット制御方法
US10065311B1 (en) 2016-06-08 2018-09-04 X Development Llc Singularity handling for robot jogging
CN106426168A (zh) * 2016-10-19 2017-02-22 辽宁工程技术大学 一种仿生机械臂及其控制方法
EP3581341B1 (de) * 2018-06-13 2020-12-23 Siemens Healthcare GmbH Verfahren zum betreiben eines roboters, datenspeicher mit einem entsprechenden programmcode, roboter und robotersystem
CN109202904B (zh) * 2018-09-30 2020-10-20 湘潭大学 一种机械臂运动路径的确定方法及确定***
CN109531626B (zh) * 2018-12-29 2021-07-20 北京猎户星空科技有限公司 一种智能机器人奇异构型预测方法、装置和存储介质
US11667035B2 (en) * 2019-07-01 2023-06-06 Wisconsin Alumni Research Foundation Path-modifying control system managing robot singularities

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JPS5988279A (ja) * 1982-10-15 1984-05-22 新明和工業株式会社 多関節ロボットの座標変換方法およびそのための装置
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US4763276A (en) * 1986-03-21 1988-08-09 Actel Partnership Methods for refining original robot command signals
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109159121A (zh) * 2018-09-12 2019-01-08 浙江工业大学 采用抛物线型终态神经网络的冗余机器人重复运动规划方法

Also Published As

Publication number Publication date
SE9400579D0 (sv) 1994-02-21
EP0672507A1 (en) 1995-09-20
JPH07281722A (ja) 1995-10-27
US5590034A (en) 1996-12-31

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