WO2019081155A1 - Procédé et système pour faire fonctionner un robot mobile - Google Patents

Procédé et système pour faire fonctionner un robot mobile

Info

Publication number
WO2019081155A1
WO2019081155A1 PCT/EP2018/076380 EP2018076380W WO2019081155A1 WO 2019081155 A1 WO2019081155 A1 WO 2019081155A1 EP 2018076380 W EP2018076380 W EP 2018076380W WO 2019081155 A1 WO2019081155 A1 WO 2019081155A1
Authority
WO
WIPO (PCT)
Prior art keywords
pose
platform
robot
arm
relative
Prior art date
Application number
PCT/EP2018/076380
Other languages
German (de)
English (en)
Inventor
Shashank Sharma
Uwe Zimmermann
Jianlin LU
Original Assignee
Kuka Deutschland 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
Application filed by Kuka Deutschland Gmbh filed Critical Kuka Deutschland Gmbh
Priority to EP18782368.7A priority Critical patent/EP3700718A1/fr
Priority to CN201880070039.7A priority patent/CN111278610A/zh
Publication of WO2019081155A1 publication Critical patent/WO2019081155A1/fr

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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G05B2219/37325—Multisensor integration, fusion, redundant
    • 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
    • G05B2219/39022—Transform between measuring and manipulator coordinate system
    • 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
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile

Definitions

  • the present invention relates to a method and a system for operating a mobile robot as well as an arrangement with the mobile robot and system and to a computer program product for carrying out the method.
  • End monoor relative to a workpiece fixed coordinate system pretend.
  • CAD data of a workpiece welding ß-, cut, gluing, painting, grinding or similar webs of a robot-guided welding ß-, cutting, gluing, painting, grinding or similar tool head specified become.
  • FIG. 1 illustrates, by way of example, such a desired machining pose of a robot-guided end effector 16 relative to a workpiece 20 or a workpiece-fixed coordinate system W (which is also denoted by its x and y axes x w , yw) (which is also referred to as "task (coordinate) frame". denoted by)
  • Coordinate system T is or is, in which an end effector fixed
  • Coordinate system TCP is to be transferred (TCP -> T).
  • the end effector 16 or the endeffector fixed coordinate system TCP should assume the pose predetermined by T or W T T.
  • a xod, yod is shown by its x and y axes
  • Transformation 0d T w has been determined by the output coordinate system Od in the workpiece fixed coordinate system W, a predetermined by W T T (set) processing pose for any odometrically detected platform poses 0d T B , o d T B * each by determining and implementing appropriate poses B T TCP , BT tcp * of the robot arm can be realized.
  • the object of the present invention is to operate a mobile robot, in one embodiment to approach predetermined machining poses with one
  • Claims 10 to 12 provide a system or computer program product
  • a method of operating a mobile robot having a mobile platform on which a hinged robotic arm is disposed comprises the steps of:
  • a position and in a further development also an orientation of the mobile robot, in particular (also) its platform, relative to the robot reference guided to or to the environmental reference
  • the mobile platform has a chassis with one or more driven and / or steerable wheels, in particular mecanum wheels, caterpillars, chains, air cushions, (levitation) magnets or the like and / or one or more sensors for detecting a movement of the platform , in particular their drives or moving means, in particular wheels, caterpillars, chains, legs or the like, which may in particular be without rails.
  • the mobile robot can advantageously approach different workstations or a workstation repeatedly and / or flexibly.
  • the articulated robot arm has at least three, in particular at least six, in particular at least seven, joints, in particular
  • Electric motors can be actuated or actuated.
  • an end effector or a robot reference can advantageously have any desired three-dimensional positions and orientations in one embodiment
  • Handing the robot reference of the flexibly controlled robot arm comprises in one embodiment a control-technical evasion or following of forces applied manually to the robot arm, in particular at the robot reference or away therefrom, in particular by compensation of the gravitation or
  • a control based on detected actual and predetermined Target values or rules includes.
  • the robot arm or its controller in particular first, for handing the robot reference to the environment reference in a
  • Compliance control in particular in a gravity compensation control, (switched), in particular (only) after reaching the nadopose.
  • the platform pose can be advantageously approached,
  • the robot reference may comprise a robot arm, in particular a, in particular a distal and / or non-destructively releasably fastened, in particular bolted, clamped and / or latched, part of the robot arm,
  • Coordinate system include, in particular.
  • the environment reference may include a part (s) of an environment of the robot, in particular a tool (s) for machining a robot-guided workpiece, a workpiece (s) to be machined by the robot, and / or or a receptacle, in particular a table (s), a tensioning device or the like, for this purpose and / or a coordinate system fixed or defined thereby, in particular.
  • the environmental reference has one or more, in particular optical, in particular graphical, markings and / or one, in particular visually (recognizable, unambiguous three-dimensional orientation, in particular excellent points, corners, edges, asymmetrical contours or the like Execution, the hand guidance of the robot reference to or to the environmental reference, in particular with a predetermined orientation relative to the environmental reference, to be improved.
  • One (arm) pose of the robot arm relative to the platform is detected in one embodiment by means of joint, in particular angle sensors. Additionally or alternatively, such an (arm) pose can also be detected in one embodiment by means of cameras, laser trackers or the like.
  • the (output) coordinate system of the odometric detection in one embodiment comprises detecting a movement of the platform, in particular its
  • Movement means such as wheels, caterpillars, chains, legs or the like, starting from the output poses and their, in particular numerical, integration, in one embodiment by means of path, in particular angle, speed and / or acceleration sensors on the platform.
  • the output pose can therefore be in particular a pose in which the odometric detection of the platform pose is started or nulled.
  • odometric detection in one embodiment it is advantageously possible to realize a higher control clock and / or a continuous (re) or poorer control than a card-based detection or the like.
  • a mobile robot its platform poses
  • an environment reference pose is the
  • Ambient reference relative to the Volunteerspose in particular a transformation between a determined by the output pose or this determining (output) coordinate system of the odometric detection and a
  • the mobile robot is controlled as a function of this determined environmental reference pose or transformation and one or more processing poses that are or are predefined relative to the environment reference, for example based on CAD.
  • the mobile robot can approach the processing pose (s) in an execution after leaving the platform pose, in particular multiple times, without the environment reference pose or transformation being determined again
  • the method includes the steps of: one or more retuning of the platform pose and / or one or more other platform pose (s) (each) without re-handing the robot reference to the environment reference and then controlling the robotic arm in FIG
  • Robot (arm) guided end effector in particular tool or piece.
  • a pose in the sense of the present invention can in one embodiment (in each case) comprise a one-, two- or three-dimensional, in particular Cartesian, position and / or a one-, two- or three-dimensional orientation, in particular in space.
  • the manual guidance of the robot reference to or to the environmental reference can lead to an excellent point of the
  • Robot reference in particular an origin of a robot reference fixed
  • the robot reference is guided to the environmental reference in such a way that, in addition, the robot reference guided to the environmental reference also has a predefined, in particular one, two or three-dimensional, orientation relative to the environmental reference, in particular at least one In particular, all three coordinate axes of one or the robot reference-fixed coordinate system are aligned with corresponding coordinate axes of one or the reference coordinate system or form predetermined angles.
  • the robot reference or the robot-reference-fixed coordinate system guided to the environmental reference may have any orientation about one or more axes relative to the environmental reference or the reference coordinate system.
  • An odometrically detected P (lattformp) ose the platform relative to the output pose of the platform can be determined in one embodiment by a two-dimensional, in particular horizontal, position and a one-dimensional orientation, in particular around or relative to the vertical.
  • the robot reference in one embodiment is visually unambiguously or three-dimensionally orientable, in particular has at least three visually uniquely identifiable or excellent axes or directions, which may be defined for example by at least two non-collinear edges or the like, it may in one embodiment be guided to the environment reference such that the guided to the environmental reference robot reference a predetermined three-dimensional or unique orientation relative to the
  • the environmental reference pose or corresponding transformation can advantageously already be clearly determined with a single approach or a single arm pose ("one-point method").
  • the method in one embodiment, has at least one axis of rotational symmetry or is visually not clearly orientable, since their orientation relative to the axis of rotational symmetry is not or only difficult and / or imprecise recognizable, in one embodiment, the method
  • Rotation symmetry axis a non-zero angle, which in one
  • Coordinate system relative to a Verfahr- or riot plane of the platform to a predetermined orientation, in a development, the environmental reference or a coordinate plane of the environment reference coordinate system, at least substantially, parallel to the traversing or riot plane of the platform.
  • a rotational symmetry of the robot reference can be advantageously compensated.
  • odometric detection can be one, in particular
  • Transformation in particular cyclically, is repeated. It can, in particular due to a visually uniquely orientable
  • a robot reference directed to the environmental reference such that the robot reference directed to the environmental reference has a predetermined three-dimensional orientation relative to the environmental reference already guides the robotic reference to the environmental reference to uniquely determine the environmental reference
  • the method comprises the steps of:
  • the difference between the platform pose and the platform matching pose determines an error of the odometric detection and compensates accordingly, for example by applying corresponding correction terms , Offsets and / or twists.
  • the method has the steps:
  • a positional or translational deviation or drift of the odometric detection or drift By redirecting the robot reference of the compliant controlled robot arm to the environmental reference and detecting an arm comparison pose of the robot arm relative to the platform, in one embodiment, a positional or translational deviation or drift of the odometric detection or drift
  • Outputs can be determined even more precisely and compensated than solely on the basis of the scanning or card-based navigation in the reference pose.
  • the above steps are repeated cyclically.
  • the platform is navigated depending on a range of the robot arm in the strupose, in particular such that the
  • Robot reference in the formerlypose to the environment reference is feasible.
  • the platform is thereby automated, in particular by means of a scanning or card and / or odometric detection, and / or navigated by a user, in particular by controlling drives of the platform and / or unpowered method of the platform.
  • the platform rests upon handing over the robot reference of the compliant controlled robotic arm to the environmental reference; in a further development, it is or is shut down, in particular safely, in particular by switching off or corresponding (braking or position-maintaining) control of drives, closing brakes or the like.
  • a system in particular a (robot) controller, for operating a mobile robot, in particular hardware and / or software, in particular program technology, for implementing a method described here is set up and / or has:
  • system or its agent has:
  • Robotic arm in the platform pose and / or shutdown of the platform in the Platform pose in guiding the robotic reference of the compliant controlled robotic arm to the environmental reference.
  • a means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules.
  • the CPU may be configured to implement instructions implemented as a program stored in a memory system.
  • a storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media.
  • the program may be arranged to be capable of embodying the methods described herein, such that the CPU may perform the steps of such
  • a computer program product may include, in particular, a non-volatile storage medium for storing a program or a program stored thereon, wherein execution of this program causes a system or a controller, in particular a computer, to do so method described herein or one or more of its steps.
  • FIG. 1 shows an arrangement with a mobile robot and a system for
  • FIG. 3 shows the arrangement of FIG. 1 in a step of the method of FIG. 2;
  • FIG. 4 shows a method for operating a mobile robot of the arrangement of FIG. 5 according to a further embodiment of the present invention.
  • FIG. 5 shows this arrangement in one step of the method of FIG. 4.
  • Fig. 1 shows, as already partially explained in the introduction, in a vertical plan view of a mobile robot with a mobile platform 1 1, on which a more articulated
  • Robot arm 14 is arranged, from its pivot joints 15 in Fig. 1 for
  • the mobile platform 1 1 has wheels with sensors 12 for odometrically detecting platform poses of the platform 1 1 relative to an output pose of the platform, which communicate with a controller 18.
  • controller 18 communicates with one or more other sensors 13 for sensing an environment or detecting poses of the platform 1 1 relative to the environment by means of a card.
  • FIG. 1 This is illustrated in Fig. 1 by corresponding coordinate systems, indicated respectively by their x and y axes, and transformations (output coordinate system T target ⁇ coordinate system) from an initial to a target coordinate system:
  • a pose of a platform-fixed coordinate system B which is indicated in Fig. 1 by its x and y axis x B , yB and also referred to as "base-link (coordinate) frame", as a starting pose of Set in Fig. 1 by a corresponding coordinate system of
  • the odometrically determined by the wheel sensors 12 current pose of the platform 1 1 and the platform-fixed coordinate system B determines the
  • Transformation 0D T B or this can correspond to an odometrically detected platform pose of the platform 1 1 relative to the initial pose of the platform.
  • a reference pose of the platform 1 1 or the platform-fixed coordinate system B relative to the environment by means of or in a map or an environment-fixed map coordinate system M, indicated by its x- and y-axis x M , YM, which correspondingly determines the transformation M T B from the map coordinate system M into the reference pose.
  • the map coordinate system M is also referred to as "map (coordinate) frame", the transformation M T B can thus a detected by means of a scan or map of the environment reference position of the platform 1 1 relative to
  • (target) machining poses in particular for robot-guided tools 16 or a TCP coordinate system, indicated by its x and y axes x TC p, y-rcp, in a workpiece-fixed coordinate system W, indicated by the x and y axis x w , yw, are predetermined, for example based on CAD data or the like.
  • Transformation odT B and based on the detected joint angle can determine the transformation B T TCP , it can be specified with the robot this
  • Processing pose (s) T approach i. the coordinate system TCP with the
  • Coordinate system T match, if the transformation odT w or the relationreferenzpose the workpiece fixed coordinate system W or an environmental reference 20, with respect to this coordinate system is set, for example, a workpiece, a workpiece holder, in particular workpiece support or the like, relative to the Starting pose (see Od) is known: ⁇ B
  • a method is carried out in one embodiment, which is explained in more detail below with reference to FIGS. 2, 3:
  • the platform 1 1 becomes dependent on a range of the robot arm Navigated 14 in the platform pose of Fig. 3 and stopped in this.
  • the platform pose of the platform 1 1 is detected odometrically relative to the starting pose, which determines the transformation 0 dT B , by means of the wheel sensors 12.
  • step S20 the controller 18 in a
  • Coordinate axes have the same orientations, as shown in Fig. 3.
  • the user sets, for example, the tool 16 in the in Fig. 3rd
  • a step S30 the six-dimensional arm pose of tool or robot reference 16 relative to the platform 11 is then detected by means of angle sensors in the joints 15, which determines the transformation B T TCP .
  • Ambient reference 20 relative to the output pose or the corresponding
  • the robot can be removed from the platform pose in a step S50. He can approach them again in step S50 later by means odometrischer detection to move to the constraintspose (s) or edit the workpiece 20 with the tool 16.
  • step S50 he can also approach another platform pose in order to drive the machining pose (s) and / or to machine the workpiece 20 with the tool 16.
  • another platform pose with a corresponding transformation 0d T B * 0d T B
  • the machining pose (s) predetermined by W T T can be approached by corresponding other poses of the robot arm relative to the platform or
  • a tool 16 ' is indicated in FIG. 5, which is rotationally symmetrical about a central axis perpendicular to the plane of the drawing of FIG. 5.
  • step S10 the platform 11 is in turn navigated depending on the range of the robot arm 14 in the platform pose of Fig. 5 and stopped in this.
  • the platform pose of the platform 1 1 is detected odometrically relative to the starting pose by means of the wheel sensors 12, which determines the transformation o d B.
  • step S20 the controller 18 is again in the
  • the user sets, for example, the conical tool 16 'with its tip to the corner of the workpiece 20, wherein the x- and y-axis X T CP, y-rcp opposite ambient reference or workpiece 20 or the tool-fixed coordinate system W be rotated arbitrarily can, as indicated in Fig. 5.
  • this is only exemplary for a clear three-dimensional positioning and any orientation of the tool or robot reference 16 relative to the workpiece or environmental reference 20.
  • step S30 in turn, the six-dimensional arm pose of tool or robot reference 16 relative to the platform 11 is detected by means of angle sensors in the joints 15, which determines the transformation B T TCP .
  • predetermined direction in the embodiment along the left in Fig. 5 edge of workpiece or environmental reference 20 or the x-axis x w of the tool-fixed coordinate system W in the shown in Fig. 5 further arm pose moved, which determines the transformation BT ' tcp .
  • a step S45 instead of the step S40, from the odometrically detected platform pose of the step S10 and the two arm poses of the steps S30, S35, the Ambient reference pose of the environmental reference 20 relative to the output pose or the corresponding transformation odT w are determined, in particular the
  • Coordinate system W parallel to ceremoniesspose or coordinate system Od or the surface of the workpiece 20 is parallel to the Aufstands- or traverse plane of the platform 1 1.
  • the rotationally symmetrical tool or the rotationally symmetrical robot reference 16 ' with a predetermined
  • Orientation of his / its rotational symmetry axis on the workpiece or the environmental reference 20 are placed, for example, perpendicular to the surface of workpiece or environmental reference 20. Then, the orientation of the z-axis of the environmental reference 20 and the coordinate system W relative to
  • step S50 the robot can be removed again from the platform pose in step S50.
  • step S50 he can later approach this again or another platform pose by means of odometric detection in order to approach the machining pose or to machine the workpiece 20 with the tool 16.
  • the first time the platform pose is detected in step S10 a reference pose of the platform 11 relative to an environment of the platform by means of the sensor (s) 13 in a map or the
  • step S60 the platform 11 is again navigated into the platform pose by means of the map or in the coordinate system M, the platform comparison pose acquired odometrically should be relative to the starting pose without
  • odometrical detection can be determined and corrected, in particular by
  • step S60 the platform 1 1 in the reference pose is shut down, the controller 18 is switched to the gravity compensation mode, and the tool 16 or 16 'is hand-held to the environmental reference 20, so that the coordinate systems TCP, W have the same origin, as explained above.
  • Coordinate systems correspond to references or poses, in particular one robot arm, in particular end effector fixed coordinate system of the robot references, a tool (recording) fixed coordinate system of
  • Ambient reference and / or an output coordinate system of the odometrical detection of output poses, as well as poses transformations correspond, in particular the transformation odT w of the environment reference pose, the

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

Le procédé selon l'invention pour faire fonctionner un robot mobile doté d'une plate-forme mobile (11) sur laquelle est disposé un bras de robot articulé (14) comprend les étapes suivantes : - guidage manuel (S20) d'une référence de robot (16 ; 16' ; TCP) du bras du robot commandé de manière flexible vers une référence d'environnement (20 ; W) ; - la détection (S30) d'une pose du bras du robot par rapport à la plate-forme et la détection odométrique (S10) d'une pose de la plate-forme par rapport à une pose en sortie (Od) de la plate-forme pour la référence de robot orientée vers la référence d'environnement ; et la commande (S50) du robot en fonction du bras et de la plateforme détectés.
PCT/EP2018/076380 2017-10-25 2018-09-28 Procédé et système pour faire fonctionner un robot mobile WO2019081155A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP18782368.7A EP3700718A1 (fr) 2017-10-25 2018-09-28 Procédé et système pour faire fonctionner un robot mobile
CN201880070039.7A CN111278610A (zh) 2017-10-25 2018-09-28 用于运行可移动机器人的方法和***

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017009939.1 2017-10-25
DE102017009939.1A DE102017009939B4 (de) 2017-10-25 2017-10-25 Verfahren und System zum Betreiben eines mobilen Roboters

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WO2019081155A1 true WO2019081155A1 (fr) 2019-05-02

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EP (1) EP3700718A1 (fr)
CN (1) CN111278610A (fr)
DE (1) DE102017009939B4 (fr)
WO (1) WO2019081155A1 (fr)

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CN113561183A (zh) * 2021-07-26 2021-10-29 上海大学 一种基于位姿跟踪***机械臂目标点在线追踪方法及***
CN114952861A (zh) * 2022-06-27 2022-08-30 西南交通大学 基于位姿测量数据的机器人运动学参数误差精准辨识方法
CN116442225A (zh) * 2023-04-18 2023-07-18 北京思灵机器人科技有限责任公司 一种机器人末端定位方法、定位装置及电子设备

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DE102021200600A1 (de) 2021-01-22 2022-07-28 Kuka Deutschland Gmbh Planen eines Pfads eines fahrerlosen mobilen Roboters
EP4321307A1 (fr) * 2022-08-08 2024-02-14 Siemens Aktiengesellschaft Procédé permettant de faire fonctionner un robot modulaire, robot modulaire, système de protection contre les collisions, produit programme informatique

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