ATE430002T1 - Steuersystem, verfahren und rechnerprogramm zur synchronisierung mehrerer roboter - Google Patents

Steuersystem, verfahren und rechnerprogramm zur synchronisierung mehrerer roboter

Info

Publication number
ATE430002T1
ATE430002T1 AT05704717T AT05704717T ATE430002T1 AT E430002 T1 ATE430002 T1 AT E430002T1 AT 05704717 T AT05704717 T AT 05704717T AT 05704717 T AT05704717 T AT 05704717T AT E430002 T1 ATE430002 T1 AT E430002T1
Authority
AT
Austria
Prior art keywords
control system
mechanical
movements
computer program
units
Prior art date
Application number
AT05704717T
Other languages
English (en)
Inventor
Hakan Fortell
Sven-Erik Johansson
Sven-Erik Lindstroem
Original Assignee
Abb Ab
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 Abb Ab filed Critical Abb Ab
Application granted granted Critical
Publication of ATE430002T1 publication Critical patent/ATE430002T1/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
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • 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
    • G05B2219/39135—For multiple manipulators operating at same time, avoid collision
    • 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
    • G05B2219/39139—Produce program of follower from path of leader and desired relative position
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
  • Programmable Controllers (AREA)
AT05704717T 2004-01-16 2005-01-14 Steuersystem, verfahren und rechnerprogramm zur synchronisierung mehrerer roboter ATE430002T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0400091A SE0400091D0 (sv) 2004-01-16 2004-01-16 Control system, method and computer program
PCT/SE2005/000043 WO2005068138A1 (en) 2004-01-16 2005-01-14 Control system, method and computer program for sychronizing several robots.

Publications (1)

Publication Number Publication Date
ATE430002T1 true ATE430002T1 (de) 2009-05-15

Family

ID=31493062

Family Applications (1)

Application Number Title Priority Date Filing Date
AT05704717T ATE430002T1 (de) 2004-01-16 2005-01-14 Steuersystem, verfahren und rechnerprogramm zur synchronisierung mehrerer roboter

Country Status (7)

Country Link
US (1) US7620478B2 (de)
EP (1) EP1704025B1 (de)
AT (1) ATE430002T1 (de)
DE (1) DE602005014197D1 (de)
ES (1) ES2324791T3 (de)
SE (1) SE0400091D0 (de)
WO (1) WO2005068138A1 (de)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1763421A1 (de) * 2004-03-16 2007-03-21 Abb Ab Manipulatorensystem und verfahren zur steuerung eines solchen systems
FR2896716B1 (fr) * 2006-01-31 2009-06-26 Abb Mc Soc Par Actions Simplif Procede de pilotage d'une station de travail robotisee et station de travail robotisee correspondante
JP2009264840A (ja) 2008-04-23 2009-11-12 Mitsutoyo Corp 形状測定装置
US20100180711A1 (en) 2009-01-19 2010-07-22 Comau, Inc. Robotic end effector system and method
US20100241260A1 (en) * 2009-03-17 2010-09-23 Comau, Inc. Industrial communication system and method
JP5532760B2 (ja) * 2009-08-31 2014-06-25 株式会社安川電機 搬送システム，ロボット装置及びワークの製造方法
US8818531B2 (en) * 2010-01-12 2014-08-26 Comau, Inc. Distributed control system
US9517556B2 (en) * 2012-06-29 2016-12-13 Mitsubishi Electric Corporation Robot control apparatus and robot control method
JP5768829B2 (ja) * 2013-03-15 2015-08-26 株式会社安川電機 ロボットシステム、ロボット制御方法及び被加工物の製造方法
JP5873140B2 (ja) * 2014-06-25 2016-03-01 ファナック株式会社 同期制御装置
SI3012695T1 (en) 2014-10-23 2018-01-31 Comau S.P.A. System for monitoring and control of an industrial plant
DE102015008188B3 (de) * 2015-06-25 2016-06-16 Kuka Roboter Gmbh Abfahren einer vorgegebenen Bahn mit einem Roboter
WO2017155598A2 (en) * 2016-01-05 2017-09-14 Philip Koopman A safety architecture for autonomous vehicles
PL3366409T3 (pl) 2017-02-23 2019-12-31 Comau S.P.A. Przegubowy robot przenoszący głowicę zgrzewająca do elektrycznego zgrzewania oporowego z elektrodami zlokalizowanymi po tej samej stronie; odpowiedni sposób zgrzewania elektrycznego oporowego komponentu do zgrzania
IT201800005091A1 (it) 2018-05-04 2019-11-04 "Procedimento per monitorare lo stato di funzionamento di una stazione di lavorazione, relativo sistema di monitoraggio e prodotto informatico"
WO2020200468A1 (en) * 2019-04-05 2020-10-08 Abb Schweiz Ag System for optimizing robot performance
CN115515760B (zh) * 2020-05-12 2025-08-15 发那科株式会社 机器人控制装置
JP7575691B2 (ja) * 2021-05-31 2024-10-30 株式会社デンソーウェーブ ロボットの制御装置及びロボットシステム

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE68926442T2 (de) 1989-01-10 1996-09-26 Kobe Steel Ltd Robotersteuerungssystem zur Steuerung einer Mehrzahl von industriellen Robotern
JP2514490B2 (ja) * 1991-07-05 1996-07-10 株式会社ダイヘン 産業用ロボットの連動手動操作による教示制御方法
JP2880590B2 (ja) * 1991-07-24 1999-04-12 株式会社不二越 産業用ロボットの同期制御方法
CN100507780C (zh) * 1994-03-23 2009-07-01 株式会社安川电机 机器控制器
JP3327123B2 (ja) * 1996-06-04 2002-09-24 トヨタ自動車株式会社 作業用ロボットの統合制御システム
DE60035651T2 (de) 1999-09-16 2008-05-21 Fanuc Ltd. Steuerungssystem zum synchronen kooperativen Betreiben einer Mehrzahl von Robotern
US6807461B2 (en) 2002-05-22 2004-10-19 Kuka Roboter Gmbh Coordinated robot control from multiple remote instruction sources
SE524929C2 (sv) * 2002-06-07 2004-10-26 Abb Ab Ett styrsystem med fysiskt åtskilda moduler för styrning av en eller flera manipulatorer
DE10235943A1 (de) * 2002-08-06 2004-02-19 Kuka Roboter Gmbh Verfahren und Vorrichtung zum synchronen Steuern von Handhabungsgeräten
DE10236392A1 (de) * 2002-08-08 2004-02-19 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern von Handhabungsgeräten
US6804580B1 (en) * 2003-04-03 2004-10-12 Kuka Roboter Gmbh Method and control system for controlling a plurality of robots
EP1644782B1 (de) * 2003-06-20 2009-03-04 Fanuc Robotics America, Inc. Mehrfach-roboterarm-verfolgung und spiegel-jog
US7010390B2 (en) * 2003-07-17 2006-03-07 Kuka Roboter Gmbh Method and system for controlling robots
US7149606B2 (en) * 2005-03-01 2006-12-12 Fanul Robotics America, Inc. Synchronizing controllers linked by a communications network

Also Published As

Publication number Publication date
EP1704025A1 (de) 2006-09-27
US20080234861A1 (en) 2008-09-25
WO2005068138A1 (en) 2005-07-28
EP1704025B1 (de) 2009-04-29
US7620478B2 (en) 2009-11-17
ES2324791T3 (es) 2009-08-14
DE602005014197D1 (de) 2009-06-10
SE0400091D0 (sv) 2004-01-16

Similar Documents

Publication Publication Date Title
DE602005014197D1 (de) Steuersystem, verfahren und rechnerprogramm zur synchronisierung mehrerer roboter
NO20072840L (no) Kontrollsystem for en leddelt manipulatorarm
GB2395296B (en) Simulation system for multi-node process control systems
ATE409904T1 (de) Betriebssysteme
ATE499184T1 (de) Verfahren und steuerungssystem zum steuern einer mehrzahl von robotern
DE69938869D1 (de) System und verfahren für einen hauptprogrammierer
TW200515279A (en) Method and apparatus for shuffling data
ATE521034T1 (de) Einrichtung und verfahren zur konfiguration eines steuerungssystems
MX2021003220A (es) Unidad de conmutacion de railes.
MY170474A (en) Control method for information apparatus and program
DE502005005490D1 (de) Verfahren und vorrichtung zur überwachung einer sp
GB0404159D0 (en) Cascade control system for network units
WO2008040917A3 (fr) Procede, programme d ' ordinateur et systeme de controle fonctionnel d ' une centrale inertielle d ' un mobile
DE60311672D1 (de) Auf der bahngeschwindigkeit basierendes registersteuerungssystem
SG10201902788TA (en) Method for evaluating the conformity of a tracking system to a set of requirements and associated devices
TW200715206A (en) Systems and methods for production planning
MY184212A (en) Centralized networked topology for motion related control system
DE602005003231D1 (de) Verfahren zur fernsteuerung von flugzeugsteuerflächen
WO2009003715A3 (de) Schnelle ringredundanz eines netzwerkes
EP1365373A3 (de) Verbindungssystem für elektronische Geräte, Steuergerät für elektronische Geräte und Steuerungsverfahren für elektronische Geräte
SE0601930L (sv) Intelligent styrsystem
EP4538814A4 (de) Steuerungsverfahren für intelligente vorrichtung, elektronische vorrichtung und system
EP4446896A3 (de) Nachrichtenbasiertes verarbeitungssystem und verfahren zum betrieb davon
DE602006016969D1 (de) Systeme und verfahren zur beleuchtungsregelung in flugdeckeinrichtungen
SG11201804547XA (en) On-board information display device, on-board information display control device, on-board information display control system, and on-board information display control method

Legal Events

Date Code Title Description
RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties