WO2017052350A3 - 로봇 제어 방법 및 장치 - Google Patents

로봇 제어 방법 및 장치 Download PDF

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Publication number
WO2017052350A3
WO2017052350A3 PCT/KR2016/011591 KR2016011591W WO2017052350A3 WO 2017052350 A3 WO2017052350 A3 WO 2017052350A3 KR 2016011591 W KR2016011591 W KR 2016011591W WO 2017052350 A3 WO2017052350 A3 WO 2017052350A3
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WO
WIPO (PCT)
Prior art keywords
robot
robot motion
work
information
workflow
Prior art date
Application number
PCT/KR2016/011591
Other languages
English (en)
French (fr)
Other versions
WO2017052350A2 (ko
Inventor
김형중
장준현
이상훈
Original Assignee
디알에이 주식회사
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 디알에이 주식회사 filed Critical 디알에이 주식회사
Priority to CN201680055650.3A priority Critical patent/CN108235696B/zh
Priority to EP16849075.3A priority patent/EP3354418B1/en
Priority to KR1020187003468A priority patent/KR102609030B1/ko
Priority to US15/762,302 priority patent/US11185984B2/en
Publication of WO2017052350A2 publication Critical patent/WO2017052350A2/ko
Publication of WO2017052350A3 publication Critical patent/WO2017052350A3/ko

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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
    • B25J9/1656—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
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • 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
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • 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
    • G05B19/427—Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave 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
    • G05B2219/37—Measurements
    • G05B2219/37445—Load teaching program from file server, enter teaching data at pendant
    • 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)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

로봇을 제어하기 위한 방법 및 장치가 제공된다. 본 발명의 일 양태에 따르면, 본 방법은 로봇에 의해 수행되는 로봇 동작의 작업 유형에 관한 정보를 수신하는 단계, 수신된 로봇 동작의 작업 유형에 관한 정보에 기초하여 로봇 동작의 워크플로우(workflow)를 생성하는 단계, 로봇을 제어하여 로봇 동작의 작업 유형 및 워크플로우에 따라 로봇 동작이 수행되는 작업 환경에 관한 정보를 측정하는 단계, 로봇을 제어하여 로봇 동작의 작업 유형 및 워크플로우에 따라 로봇 동작에 관한 작업 정보를 수신하는 단계, 및 측정된 작업 환경에 관한 정보 및 수신된 로봇 동작에 관한 작업 정보에 기초하여 로봇을 제어하여 로봇 동작의 작업 유형 및 워크플로우에 따라 로봇 동작을 수행하는 단계를 포함할 수 있다.
PCT/KR2016/011591 2015-09-25 2016-10-14 로봇 제어 방법 및 장치 WO2017052350A2 (ko)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201680055650.3A CN108235696B (zh) 2015-09-25 2016-10-14 机器人控制方法和设备
EP16849075.3A EP3354418B1 (en) 2015-09-25 2016-10-14 Robot control method and device
KR1020187003468A KR102609030B1 (ko) 2015-09-25 2016-10-14 로봇 제어 방법 및 장치
US15/762,302 US11185984B2 (en) 2015-09-25 2016-10-14 Method and apparatus for controlling robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2015-0136814 2015-09-25
KR1020150136814A KR20180015774A (ko) 2015-09-25 2015-09-25 로봇 제어 방법 및 장치

Publications (2)

Publication Number Publication Date
WO2017052350A2 WO2017052350A2 (ko) 2017-03-30
WO2017052350A3 true WO2017052350A3 (ko) 2017-05-11

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2016/011591 WO2017052350A2 (ko) 2015-09-25 2016-10-14 로봇 제어 방법 및 장치

Country Status (5)

Country Link
US (1) US11185984B2 (ko)
EP (1) EP3354418B1 (ko)
KR (2) KR20180015774A (ko)
CN (1) CN108235696B (ko)
WO (1) WO2017052350A2 (ko)

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US11392121B2 (en) 2017-10-31 2022-07-19 Clearpath Robotics Inc. Systems and methods for operating robotic equipment in controlled zones
CN108857093A (zh) * 2018-07-24 2018-11-23 湖北三江航天红阳机电有限公司 利用机器人激光切割的方法及装置
DE102018122376B3 (de) * 2018-09-13 2019-11-07 Pilz Gmbh & Co. Kg Verfahren und Vorrichtung zur kollisionsfreien Bewegungsplanung eines Manipulators
CN109035740A (zh) * 2018-09-27 2018-12-18 上海节卡机器人科技有限公司 机器人的控制方法、装置和远程控制***
BR102019005708A2 (pt) * 2019-03-22 2020-09-29 Máquinas Sanmartin Ltda Dispositivo para manipulação de produtos em contenedores, únicos ou agrupados, baseado em movimentação por pressão elástica na parte superior dos contenedores
CN111823238B (zh) * 2020-06-10 2021-12-28 杭州凯尔达机器人科技股份有限公司 机器人时序控制方法、电源时序管理单元以及控制***
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Also Published As

Publication number Publication date
KR20190055777A (ko) 2019-05-23
WO2017052350A2 (ko) 2017-03-30
US20180264648A1 (en) 2018-09-20
EP3354418C0 (en) 2024-02-28
KR20180015774A (ko) 2018-02-14
KR102609030B1 (ko) 2023-12-01
EP3354418B1 (en) 2024-02-28
EP3354418A2 (en) 2018-08-01
CN108235696B (zh) 2023-04-25
CN108235696A (zh) 2018-06-29
EP3354418A4 (en) 2019-05-01
US11185984B2 (en) 2021-11-30

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