DK2492062T4 - Industrirobot - Google Patents

Industrirobot Download PDF

Info

Publication number: DK2492062T4
Authority: DK; Denmark
Prior art keywords: industrial robot; robot; industrial
Prior art date: 2011-02-02

Application number

DK12153415.0T

Other languages

English (en)

Other versions

DK2492062T3 (da

Inventor

Andreas Sedlmayr

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.)

2011-02-02

Filing date

2012-02-01

Publication date

2021-09-13

Family has litigation

First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=45558624&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=DK2492062(T4) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.

2012-02-01 Application filed by Kuka Deutschland Gmbh filed Critical Kuka Deutschland Gmbh

2019-02-18 Publication of DK2492062T3 publication Critical patent/DK2492062T3/da

2021-09-13 Application granted granted Critical

2021-09-13 Publication of DK2492062T4 publication Critical patent/DK2492062T4/da

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
- B25J9/1628—Program controls characterised by the control loop
- B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
- 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
- B25J9/1628—Program controls characterised by the control loop
- B25J9/1638—Program controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
- 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
- B25J9/1628—Program controls characterised by the control loop
- B25J9/1641—Program controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36473—Prohibit teaching if force, speed, acceleration of end effector is out of safe range
- 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
- G05B2219/39086—Reduce impact effect by impact configuration of redundant manipulator
- 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
- G05B2219/39319—Force control, force as reference, active compliance
- 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
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42037—Adaptive pi

Landscapes

Engineering & Computer Science (AREA)
Robotics (AREA)
Mechanical Engineering (AREA)
Manipulator (AREA)
Numerical Control (AREA)

DK12153415.0T 2011-02-02 2012-02-01 Industrirobot DK2492062T4 (da)

Applications Claiming Priority (1)

Application Number	Priority Date	Filing Date	Title
DE102011003506A DE102011003506A1 (de)	2011-02-02	2011-02-02	Industrieroboter

Publications (2)

Publication Number	Publication Date
DK2492062T3 DK2492062T3 (da)	2019-02-18
DK2492062T4 true DK2492062T4 (da)	2021-09-13

Family

ID=45558624

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
DK12153415.0T DK2492062T4 (da)	2011-02-02	2012-02-01	Industrirobot

Country Status (3)

Country	Link
EP (1)	EP2492062B2 (da)
DE (1)	DE102011003506A1 (da)
DK (1)	DK2492062T4 (da)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
US10331107B2 (en)	2014-04-22	2019-06-25	Abb Schweiz Ag	Compensating robot movement deviations
EP2954986B1 (de) *	2014-06-10	2020-05-06	Siemens Aktiengesellschaft	Vorrichtung und Verfahren zum Steuern und Regeln eines Mehrkörpersystems
DE102014222809B3 (de) *	2014-11-07	2016-01-14	Kuka Roboter Gmbh	Event-basierte Redundanzwinkelkonfiguartion für Gelenkarmroboter
DE102015008144B4 (de) *	2015-06-24	2024-01-18	Kuka Roboter Gmbh	Umschalten einer Steuerung eines Roboters in einen Handführ-Betriebsmodus
DE102016015236A1 (de) *	2016-12-21	2018-06-21	Kuka Roboter Gmbh	Steuern und/oder Überwachen eines Roboters
DE102018209044B3 (de) *	2018-06-07	2019-11-07	Kuka Deutschland Gmbh	Kraftregelung eines Roboters
DE102018210864B3 (de)	2018-07-02	2019-07-18	Kuka Deutschland Gmbh	Verfahren und System zum Regeln eines Roboters
DE102019127260B4 (de) *	2019-10-10	2022-03-10	Franka Emika Gmbh	Reibungskompensation für einen Greifer eines Robotermanipulators
CN113084828B (zh) *	2021-04-02	2022-11-11	上海电气集团股份有限公司	一种运动控制方法、装置、设备和存储介质
KR102802687B1 (ko) *	2022-12-27	2025-05-07	블루로빈 주식회사	로봇 제어 장치 및 방법

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
KR100439466B1 (ko)	1995-09-11	2004-09-18	가부시키가이샤 야스가와덴끼	로봇제어장치
KR100449429B1 (ko)	1995-09-14	2004-12-13	가부시키가이샤 야스가와덴끼	로봇의교시장치
JP4294646B2 (ja) *	2003-07-29	2009-07-15	パナソニック株式会社	ロボットアームの制御方法および制御装置
DE102004056861A1 (de) *	2004-11-25	2006-06-08	Kuka Roboter Gmbh	Verfahren und Vorrichtung zum Regeln, Steuern von Manipulatoren
DE602005013193D1 (de)	2005-05-20	2009-04-23	Abb Research Ltd	Beschleunigungsmesser zur Bewegungsregelung eines an einem Roboter-Endeffektor befestigten Werkzeugs
US20080065257A1 (en) *	2006-09-13	2008-03-13	Jianmin He	Controlled material removal rate (CMRR) and self-tuning force control in robotic machining process
DE102009014766B4 (de) *	2009-03-25	2012-02-09	Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.	Überlagerte Achsen bei einer Vorrichtung zur Bearbeitung eines Werkstücks mit einem Werkzeug
DE102009018403A1 (de) *	2009-04-22	2010-10-28	Kuka Roboter Gmbh	Verfahren und Vorrichtung zur Regelung eines Manipulators

2011
- 2011-02-02 DE DE102011003506A patent/DE102011003506A1/de not_active Ceased
2012
- 2012-02-01 DK DK12153415.0T patent/DK2492062T4/da active
- 2012-02-01 EP EP12153415.0A patent/EP2492062B2/de active Active

Also Published As

Publication number	Publication date
DE102011003506A1 (de)	2012-08-16
EP2492062A2 (de)	2012-08-29
DK2492062T3 (da)	2019-02-18
EP2492062B2 (de)	2021-08-18
EP2492062A3 (de)	2014-04-02
EP2492062B1 (de)	2018-10-31

Publication	Publication Date	Title
NO2025001I1 (no)	2025-01-03	Spesolimab - Forlengelse SPC
NO2023020I1 (no)	2023-05-03	Retalimab - forlenget SPC
DE112013004847A5 (de)	2015-06-11	lndustrieroboter
EP2739230A4 (en)	2015-04-15	MANIPULATOR SYSTEM
EP2853359A4 (en)	2016-08-03	ROBOT
BR112013029474A2 (pt)	2017-01-17	ferramenta multi-abrasiva
EP2869688A4 (en)	2016-04-27	MODULAR ROBOT VEHICLE
DE102011106214A8 (de)	2013-03-07	Endeffektor
EP2727545A4 (en)	2015-04-08	MEDICAL MANIPULATOR
EP2816886A4 (en)	2015-10-14	AUTOMATIC LAWNMOWER
EP2789432A4 (en)	2015-10-21	ROBOT WITH PARALLEL LINKAGE
EP2739233A4 (en)	2015-08-05	MEDICAL MANIPULATOR
DK2743428T3 (da)	2020-03-09	Poolrengøringsrobot
DK2691685T3 (da)	2017-01-02	Rørledningsredskab
EP2721239A4 (en)	2014-12-03	TOOL CARRIER
DK2492062T4 (da)	2021-09-13	Industrirobot
IT1404530B1 (it)	2013-11-22	Robot manipolatore.
EP2772337A4 (en)	2015-11-18	MULTIAXIS ROBOT
EP2693624A4 (en)	2015-08-05	POWER CONTROL UNIT
EP2693625A4 (en)	2015-07-22	POWER CONTROL UNIT
DK2564995T3 (da)	2014-10-13	Værktøj
DE112012000934T8 (de)	2014-01-23	Schraubenschlüssel-Werkzeug
EP2662123A4 (en)	2014-01-22	TOY ROBOTS
EP2792451A4 (en)	2015-10-14	TORQUE WRENCH
ITMI20131786A1 (it)	2014-05-01	Robot per pulire superfici