SG11201809340WA - Method and device for defining a movement sequence for a robot - Google Patents

Method and device for defining a movement sequence for a robot

Info

Publication number
SG11201809340WA
SG11201809340WA SG11201809340WA SG11201809340WA SG11201809340WA SG 11201809340W A SG11201809340W A SG 11201809340WA SG 11201809340W A SG11201809340W A SG 11201809340WA SG 11201809340W A SG11201809340W A SG 11201809340WA SG 11201809340W A SG11201809340W A SG 11201809340WA
Authority
SG
Singapore
Prior art keywords
robot
defining
movement sequence
sequence
movement
Prior art date
Application number
SG11201809340WA
Inventor
Sami Haddadin
Original Assignee
Kastanienbaum GmbH
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=58609410&utm_source=***_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=SG11201809340W(A) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Kastanienbaum GmbH filed Critical Kastanienbaum GmbH
Publication of SG11201809340WA publication Critical patent/SG11201809340WA/en

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
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35478—Set flexibility of axis in working coordinates, to move real axis manually easily
    • 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
    • G05B2219/36432—By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints
    • 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
    • G05B2219/39001—Robot, manipulator 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40387—Modify without repeating teaching operation

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
SG11201809340WA 2016-04-24 2017-04-21 Method and device for defining a movement sequence for a robot SG11201809340WA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016004841.7A DE102016004841B4 (en) 2016-04-24 2016-04-24 Method and device for determining a movement sequence for a robot
PCT/EP2017/059570 WO2017186601A1 (en) 2016-04-24 2017-04-21 Method and device for defining a movement sequence for a robot

Publications (1)

Publication Number Publication Date
SG11201809340WA true SG11201809340WA (en) 2018-12-28

Family

ID=58609410

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201809340WA SG11201809340WA (en) 2016-04-24 2017-04-21 Method and device for defining a movement sequence for a robot

Country Status (8)

Country Link
US (1) US20190168383A1 (en)
EP (1) EP3449325A1 (en)
JP (1) JP2019514705A (en)
KR (1) KR20190032280A (en)
CN (1) CN109313436A (en)
DE (1) DE102016004841B4 (en)
SG (1) SG11201809340WA (en)
WO (1) WO2017186601A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202015009616U1 (en) 2015-08-14 2018-08-30 Franka Emika Gmbh Robot system and housing part for such a robot system
DE102015012962A1 (en) 2015-10-08 2017-04-13 Sami Haddadin robot system
DE102016004788A1 (en) 2016-04-20 2017-10-26 Kastanienbaum GmbH Method for producing a robot and device for carrying out this method
DE102017010678B4 (en) * 2017-11-17 2021-07-01 Kuka Deutschland Gmbh Method and system for specifying an application pattern command lexicon for inputting at least one robot command
EP3530418A1 (en) * 2018-02-21 2019-08-28 Siemens Aktiengesellschaft Method and device for determining an optimised movement pattern of a robotic device
DE102018207680A1 (en) * 2018-05-16 2019-11-21 Volkswagen Aktiengesellschaft Charging robot for a motor vehicle, method, apparatus and computer-readable storage medium with instructions for controlling a charging robot
DE102018207681A1 (en) * 2018-05-16 2019-11-21 Volkswagen Aktiengesellschaft Charging robot for a motor vehicle, method, apparatus and computer-readable storage medium with instructions for controlling a charging robot
DE102018004898A1 (en) * 2018-06-16 2019-12-19 Psa Automobiles Sa Robot arrangement and method for performing an assembly operation on a workpiece
DE102018209870B3 (en) 2018-06-19 2019-07-04 Kuka Deutschland Gmbh A method and system for transferring an end effector of a robot between an end effector pose and another end effector pose
US11607804B2 (en) * 2019-05-28 2023-03-21 X Development Llc Robot configuration with three-dimensional lidar
DE102019118260B3 (en) 2019-07-05 2020-08-20 Franka Emika Gmbh Tactile feedback from an end effector of a robot manipulator over various orientation areas
CN110497391B (en) * 2019-09-04 2020-11-03 湖南三一快而居住宅工业有限公司 Mechanical arm demonstration method and mechanical arm demonstration device
KR102356660B1 (en) * 2019-11-01 2022-02-07 주식회사 뉴로메카 Friction Compensation Method for Multi-DOF Cooperative Robots
CN110976206B (en) * 2019-11-28 2022-08-12 深圳市世宗自动化设备有限公司 Dispensing control method and device, computer equipment and storage medium thereof
DE102019220619B3 (en) * 2019-12-30 2021-01-28 Kuka Deutschland Gmbh Moving a robot-fixed reference
CN111488105B (en) * 2020-04-17 2021-07-30 北京如影智能科技有限公司 Method and device for generating motion flow of mechanical arm
CN112947439A (en) * 2021-02-05 2021-06-11 深圳市优必选科技股份有限公司 Position adjusting method and device, terminal equipment and readable storage medium
DE102021111413B3 (en) 2021-05-03 2022-06-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Actuator system and method for spring stiffness adjustment in an actuator system
WO2023160812A1 (en) * 2022-02-25 2023-08-31 Abb Schweiz Ag Robot system for lead-through programming
DE102022115462B3 (en) 2022-06-21 2023-07-06 Deutsches Zentrum für Luft- und Raumfahrt e.V. Robot manipulator with task null space
DE102023101809B3 (en) 2023-01-25 2024-02-01 Deutsches Zentrum für Luft- und Raumfahrt e.V. Actuator system and method for adjusting spring stiffness in an actuator system

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JPS5924313A (en) * 1982-07-31 1984-02-08 Toyota Central Res & Dev Lab Inc High-speed locus generating device
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US4808063A (en) * 1987-11-03 1989-02-28 Westinghouse Electric Corp. Robot system employing force/position control
JP3369351B2 (en) * 1995-03-28 2003-01-20 富士通株式会社 Elasticity setting method and control device for articulated manipulator
CA2826925C (en) * 2005-02-22 2017-01-24 Mako Surgical Corp. Haptic guidance system and method
EP2359205A1 (en) * 2008-12-17 2011-08-24 KUKA Laboratories GmbH Method and device for inputting commands into a control of a manipulator
WO2010088959A1 (en) * 2009-02-06 2010-08-12 Abb Technology Ab Method for programming an industrial robot by lead-through
EP2243602B1 (en) * 2009-04-22 2013-05-15 KUKA Roboter GmbH Method and device for controlling a manipulator
CN102292194B (en) * 2009-08-21 2015-03-04 松下电器产业株式会社 Control device and control method for robot arm, assembly robot, control program for robot arm, and integrated electronic circuit for controlling robot arm
WO2013175777A1 (en) * 2012-05-23 2013-11-28 パナソニック株式会社 Robot, robot control device, control method, and control program
JP2015033747A (en) * 2013-08-09 2015-02-19 株式会社安川電機 Robot system, robot control device and robot control method
DE102013218823A1 (en) * 2013-09-19 2015-04-02 Kuka Laboratories Gmbh Method for manually adjusting the pose of a manipulator arm of an industrial robot and associated industrial robots
DE102014216514B3 (en) * 2014-08-20 2015-09-10 Kuka Roboter Gmbh Method for programming an industrial robot and associated industrial robots
CN104575232A (en) * 2014-12-26 2015-04-29 佛山市新鹏机器人技术有限公司 Teaching mechanical arm

Also Published As

Publication number Publication date
DE102016004841A1 (en) 2017-10-26
CN109313436A (en) 2019-02-05
KR20190032280A (en) 2019-03-27
WO2017186601A1 (en) 2017-11-02
JP2019514705A (en) 2019-06-06
DE102016004841B4 (en) 2018-01-04
EP3449325A1 (en) 2019-03-06
US20190168383A1 (en) 2019-06-06

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