ATE386617T1 - Robotergeräte - Google Patents

Robotergeräte

Info

Publication number
ATE386617T1
ATE386617T1 AT02730449T AT02730449T ATE386617T1 AT E386617 T1 ATE386617 T1 AT E386617T1 AT 02730449 T AT02730449 T AT 02730449T AT 02730449 T AT02730449 T AT 02730449T AT E386617 T1 ATE386617 T1 AT E386617T1
Authority
AT
Austria
Prior art keywords
path
robot arm
along
supports
arm
Prior art date
Application number
AT02730449T
Other languages
English (en)
Inventor
Michael James Morley Webb
Jayan Ragavan
Original Assignee
Quin Systems Ltd
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 Quin Systems Ltd filed Critical Quin Systems Ltd
Application granted granted Critical
Publication of ATE386617T1 publication Critical patent/ATE386617T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program 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—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/41—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 program data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34135—Spline
    • 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
    • G05B2219/40267—Parallel manipulator, end effector connected to at least two independent links
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Investigating, Analyzing Materials By Fluorescence Or Luminescence (AREA)
  • Attitude Control For Articles On Conveyors (AREA)
AT02730449T 2001-06-08 2002-06-10 Robotergeräte ATE386617T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GBGB0113985.6A GB0113985D0 (en) 2001-06-08 2001-06-08 Robotic devices

Publications (1)

Publication Number Publication Date
ATE386617T1 true ATE386617T1 (de) 2008-03-15

Family

ID=9916193

Family Applications (1)

Application Number Title Priority Date Filing Date
AT02730449T ATE386617T1 (de) 2001-06-08 2002-06-10 Robotergeräte

Country Status (11)

Country Link
US (1) US7448294B2 (de)
EP (1) EP1399301B1 (de)
JP (1) JP4170898B2 (de)
KR (1) KR20040052509A (de)
CN (1) CN100399219C (de)
AT (1) ATE386617T1 (de)
AU (1) AU2002302770A1 (de)
DE (1) DE60225137T2 (de)
ES (1) ES2301643T3 (de)
GB (2) GB0113985D0 (de)
WO (1) WO2002100605A2 (de)

Families Citing this family (14)

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US6845295B2 (en) * 2002-03-07 2005-01-18 Fanuc Robotics America, Inc. Method of controlling a robot through a singularity
US7437201B2 (en) 2003-01-14 2008-10-14 Cullen Christopher P Electric motor controller
FR2900360B1 (fr) * 2006-04-28 2008-06-20 Staubli Faverges Sca Procede et dispositif de reglage de parametres de fonctionnement d'un robot, programme et support d'enregistrement pour ce procede
FR2978791B1 (fr) * 2011-08-05 2013-09-20 Somfy Sas Procede de commande d'un ecran et actionneur adapte pour un tel procede
US9075031B2 (en) 2011-10-11 2015-07-07 Ortho-Clinical Diagnostics, Inc. Apparatus for gripping and holding diagnostic cassettes
DE102012015437A1 (de) * 2012-08-02 2014-05-15 Kuka Roboter Gmbh Verfahren und Programmiermittel zur Modifikation einer Roboterbahn
JP2014233774A (ja) * 2013-05-31 2014-12-15 株式会社荏原製作所 ロボットアーム制御装置、基板搬送装置、基板処理装置、ロボットアーム制御方法およびプログラム
DE102015002994A1 (de) * 2015-03-09 2016-09-15 Kuka Roboter Gmbh Verändern einer initial vorgegebenen Roboterbahn
WO2017223061A1 (en) * 2016-06-20 2017-12-28 Hypertherm, Inc. Systems and methods for planning paths to guide robots
CN107608313B (zh) * 2017-09-11 2019-09-27 大连理工大学 一种五轴双样条曲线插补速度规划方法
EP3924152A1 (de) 2019-02-11 2021-12-22 Hypertherm, INC. Bewegungsverteilung in robotischen systemen
WO2022009921A1 (ja) * 2020-07-10 2022-01-13 ファナック株式会社 軌道生成装置および自動位置制御装置
CN114200931B (zh) * 2021-12-01 2023-06-13 浙江大学 一种基于b样条曲线优化的移动机器人路径平滑方法
US20240286280A1 (en) * 2023-02-24 2024-08-29 Sanctuary Cognitive Systems Corporation Method and system of generating a feasible smooth reference trajectory for an actuator

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US3262593A (en) * 1963-07-10 1966-07-26 Gen Mills Inc Wall-mounted support structure
JPS594266B2 (ja) * 1978-07-28 1984-01-28 元田電子工業株式会社 先端制御ロボツト
JPS61257829A (ja) * 1985-04-16 1986-11-15 Murata Mach Ltd 物品パレタイジング用ロボツトシステム
US4652204A (en) * 1985-08-02 1987-03-24 Arnett Edward M Apparatus for handling hazardous materials
JPS6318403A (ja) * 1986-07-10 1988-01-26 Fanuc Ltd オフライン制御実行方法
US4821207A (en) * 1987-04-28 1989-04-11 Ford Motor Company Automated curvilinear path interpolation for industrial robots
SE8804305L (sv) * 1988-11-28 1990-05-29 Fredrik Bror Bengt Lagercrantz Anordning foer att kunna inreglera en robotbalks fria aende mot ett paa foerhand bestaemt positionslaege
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JPH05346149A (ja) * 1992-06-11 1993-12-27 Amada Co Ltd 二次元運動装置
US6131097A (en) * 1992-12-02 2000-10-10 Immersion Corporation Haptic authoring
JPH079371A (ja) * 1993-06-29 1995-01-13 Motoda Electron Co Ltd 慣性制御による荷重取扱方法とそのための装置
GB9323259D0 (en) * 1993-11-11 1994-01-05 Armstrong Projects Ltd Improvements in or relating to alignment apparatus
US5458265A (en) * 1993-11-18 1995-10-17 Levi Strauss & Co. Automated garment finishing system
JP2651662B2 (ja) * 1994-10-28 1997-09-10 川崎重工業株式会社 軌道生成方法および軌道生成装置
US5704253A (en) * 1995-03-09 1998-01-06 Georgia Tech Research Corporation Trajectory guidance apparatus and method
JPH09146621A (ja) * 1995-11-01 1997-06-06 Mitsubishi Electric Corp ロボットのシミュレーション装置
US5923139A (en) * 1996-02-23 1999-07-13 Northwestern University Passive robotic constraint devices using non-holonomic transmission elements
EP0858626B1 (de) * 1996-09-02 2002-05-02 Koninklijke Philips Electronics N.V. Regelung mit hilfe von einem soll-wert generator
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Also Published As

Publication number Publication date
EP1399301B1 (de) 2008-02-20
GB2378433B (en) 2004-03-10
US7448294B2 (en) 2008-11-11
GB0113985D0 (en) 2001-08-01
DE60225137D1 (de) 2008-04-03
KR20040052509A (ko) 2004-06-23
US20040158356A1 (en) 2004-08-12
GB0213199D0 (en) 2002-07-17
JP4170898B2 (ja) 2008-10-22
CN1514962A (zh) 2004-07-21
DE60225137T2 (de) 2009-02-12
WO2002100605A3 (en) 2003-11-06
GB2378433A (en) 2003-02-12
JP2004533334A (ja) 2004-11-04
CN100399219C (zh) 2008-07-02
ES2301643T3 (es) 2008-07-01
EP1399301A2 (de) 2004-03-24
AU2002302770A1 (en) 2002-12-23
WO2002100605A2 (en) 2002-12-19

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