ATE501816T1 - Verfahren zur steuerung mehrerer achsen in einem industrierobotersystem und industrierobotersystem - Google Patents

Verfahren zur steuerung mehrerer achsen in einem industrierobotersystem und industrierobotersystem

Info

Publication number
ATE501816T1
ATE501816T1 AT07820762T AT07820762T ATE501816T1 AT E501816 T1 ATE501816 T1 AT E501816T1 AT 07820762 T AT07820762 T AT 07820762T AT 07820762 T AT07820762 T AT 07820762T AT E501816 T1 ATE501816 T1 AT E501816T1
Authority
AT
Austria
Prior art keywords
positioner
industrial robot
robot system
axes
axis
Prior art date
Application number
AT07820762T
Other languages
English (en)
Inventor
Jan H Karlsson
Antero Lassuri
Original Assignee
Abb Technology 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 Technology Ab filed Critical Abb Technology Ab
Application granted granted Critical
Publication of ATE501816T1 publication Critical patent/ATE501816T1/de

Links

Classifications

    • 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
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J21/00—Chambers provided with manipulation devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0096—Program-controlled manipulators co-operating with a working support, e.g. work-table
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/142—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using image capturing devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/144—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using light grids
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/147—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using electro-magnetic technology, e.g. tags or radar

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Materials For Medical Uses (AREA)
  • Polysaccharides And Polysaccharide Derivatives (AREA)
AT07820762T 2007-10-01 2007-10-01 Verfahren zur steuerung mehrerer achsen in einem industrierobotersystem und industrierobotersystem ATE501816T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2007/060377 WO2009043369A1 (en) 2007-10-01 2007-10-01 A method for controlling a plurality of axes in an industrial robot system and an industrial robot system

Publications (1)

Publication Number Publication Date
ATE501816T1 true ATE501816T1 (de) 2011-04-15

Family

ID=39720425

Family Applications (1)

Application Number Title Priority Date Filing Date
AT07820762T ATE501816T1 (de) 2007-10-01 2007-10-01 Verfahren zur steuerung mehrerer achsen in einem industrierobotersystem und industrierobotersystem

Country Status (8)

Country Link
US (1) US8452443B2 (de)
EP (1) EP2212064B1 (de)
JP (1) JP2011500336A (de)
CN (1) CN101984750B (de)
AT (1) ATE501816T1 (de)
DE (1) DE602007013300D1 (de)
ES (1) ES2362312T3 (de)
WO (1) WO2009043369A1 (de)

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* Cited by examiner, † Cited by third party
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WO2010033742A2 (en) 2008-09-18 2010-03-25 Baker Hughes Incorporated Method and apparatus for the automated application of hardfacing material to rolling cutters of earth-boring bits
US8450637B2 (en) 2008-10-23 2013-05-28 Baker Hughes Incorporated Apparatus for automated application of hardfacing material to drill bits
US9439277B2 (en) 2008-10-23 2016-09-06 Baker Hughes Incorporated Robotically applied hardfacing with pre-heat
WO2010053710A2 (en) * 2008-10-29 2010-05-14 Baker Hughes Incorporated Method and apparatus for robotic welding of drill bits
JP5769479B2 (ja) * 2011-04-13 2015-08-26 日本発條株式会社 ワーク供給装置及びその表裏整合分離装置
CN102323822B (zh) * 2011-05-09 2013-07-03 无锡引域智能机器人有限公司 一种避免工业机器人碰撞工人的方法
JP2015528713A (ja) * 2012-06-21 2015-10-01 グローバス メディカル インコーポレイティッド 手術ロボットプラットフォーム
JP6229324B2 (ja) * 2013-06-14 2017-11-15 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットの制御方法
JP5892132B2 (ja) * 2013-09-13 2016-03-23 株式会社安川電機 制御装置及びロボットシステム
CN104786089B (zh) * 2015-04-16 2017-10-31 深圳市京田精密科技有限公司 一种机械手臂的控制系统及控制方法
US10668623B2 (en) 2015-05-29 2020-06-02 Abb Schweiz Ag Method and system for robotic adaptive production
CN108136602A (zh) * 2015-10-07 2018-06-08 大库输送机株式会社 可动装置的动作控制装置、动作控制系统和可动装置的动作控制方法
JP7172397B2 (ja) * 2018-10-02 2022-11-16 オムロン株式会社 制御システム、サポート装置およびプログラム
US12502786B2 (en) * 2019-01-10 2025-12-23 Cybernet Systems Corp. Robotic system for demiliterizing munitions
US11738956B2 (en) * 2021-01-26 2023-08-29 Target Brands, Inc. Door and light curtain control system for depalletization systems and methods
US12202149B2 (en) * 2021-12-10 2025-01-21 Autodesk, Inc. Techniques for robotic workcell design
CN116551247A (zh) * 2023-04-20 2023-08-08 中国第一汽车股份有限公司 焊装线机器人带三轴变位机应用的安全控制方法及系统

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US4362977A (en) * 1980-06-30 1982-12-07 International Business Machines Corporation Method and apparatus for calibrating a robot to compensate for inaccuracy of the robot
JPH0445835Y2 (de) * 1984-09-27 1992-10-28
DE3532305A1 (de) * 1985-09-11 1987-03-12 Messer Griesheim Gmbh Fertigungs- und/oder montagezelle fuer werkstuecke
US4644897A (en) * 1985-10-01 1987-02-24 Graco Robotics, Inc. Modular robotic finishing work center
JP2734283B2 (ja) * 1992-04-09 1998-03-30 日産自動車株式会社 旋回型ロボット
JP2003019688A (ja) * 2001-07-10 2003-01-21 Shinba Iron Works Inc ロボットの安全装置
DE50306628D1 (de) * 2002-06-21 2007-04-12 Abb Patent Gmbh Roboteranlage mit einem Roboter mit einer Schutzvorrichtung
JP3702257B2 (ja) * 2002-08-23 2005-10-05 ファナック株式会社 ロボットハンドリング装置
DE10242710A1 (de) * 2002-09-13 2004-04-08 Daimlerchrysler Ag Verfahren zum Herstellen eines Verbindungsbereiches auf einem Werkstück
JP2004154916A (ja) * 2002-11-08 2004-06-03 Fanuc Ltd 自動機械システムの安全装置
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US8676379B2 (en) * 2006-07-04 2014-03-18 Panasonic Corporation Device and method for controlling robot arm, robot, and robot arm control program

Also Published As

Publication number Publication date
EP2212064A1 (de) 2010-08-04
US8452443B2 (en) 2013-05-28
CN101984750A (zh) 2011-03-09
WO2009043369A1 (en) 2009-04-09
US20100204829A1 (en) 2010-08-12
DE602007013300D1 (de) 2011-04-28
JP2011500336A (ja) 2011-01-06
EP2212064B1 (de) 2011-03-16
ES2362312T3 (es) 2011-07-01
CN101984750B (zh) 2013-01-09

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