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)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Programmable Controllers (AREA)
  • Control Of Position Or Direction (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
WO2005090010A1 (en) * 2004-03-16 2005-09-29 Abb Ab System of manupulators and method for controlling such a system
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
CN102439908A (zh) * 2009-03-17 2012-05-02 柯马公司 工业通信系统和方法
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
WO2011088079A2 (en) * 2010-01-12 2011-07-21 Comau, Inc. Distributed control system
WO2014002678A1 (ja) * 2012-06-29 2014-01-03 三菱電機株式会社 ロボット制御装置およびロボット制御方法
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
PL3012695T3 (pl) 2014-10-23 2018-03-30 Comau S.P.A. Układ do monitorowania i sterowania zakładem przemysłowym
DE102015008188B3 (de) * 2015-06-25 2016-06-16 Kuka Roboter Gmbh Abfahren einer vorgegebenen Bahn mit einem Roboter
JP2019509541A (ja) * 2016-01-05 2019-04-04 カーネギー−メロン ユニバーシティＣａｒｎｅｇｉｅ−Ｍｅｌｌｏｎ Ｕｎｉｖｅｒｓｉｔｙ 自律走行車両のための安全性アーキテクチャ
PT3366409T (pt) 2017-02-23 2019-10-25 Comau Spa Robô articulado que transporta uma cabeça de soldadura de resistência elétrica com elétrodos localizados no mesmo lado; método correspondente de soldadura elétrica de resistência num componente a ser soldado
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"
CN113631326B (zh) * 2019-04-05 2024-10-22 Abb瑞士股份有限公司 优化机器人性能的系统
DE112021001923T5 (de) * 2020-05-12 2023-01-12 Fanuc Corporation Robotersteuerung
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
EP1090722B1 (de) 1999-09-16 2007-07-25 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
WO2004114037A2 (en) * 2003-06-20 2004-12-29 Fanuc Robotics America, Inc. Multiple robot arm tracking and mirror 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
WO2005068138A1 (en) 2005-07-28
EP1704025A1 (de) 2006-09-27
EP1704025B1 (de) 2009-04-29
DE602005014197D1 (de) 2009-06-10
US7620478B2 (en) 2009-11-17
SE0400091D0 (sv) 2004-01-16
US20080234861A1 (en) 2008-09-25
ES2324791T3 (es) 2009-08-14

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