EP3740353A1 - Procédé et système de commande d'un robot - Google Patents

Procédé et système de commande d'un robot

Info

Publication number
EP3740353A1
EP3740353A1 EP19700912.9A EP19700912A EP3740353A1 EP 3740353 A1 EP3740353 A1 EP 3740353A1 EP 19700912 A EP19700912 A EP 19700912A EP 3740353 A1 EP3740353 A1 EP 3740353A1
Authority
EP
European Patent Office
Prior art keywords
robot
force
normal
operating mode
determined
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
EP19700912.9A
Other languages
German (de)
English (en)
Inventor
Shashank Sharma
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
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.)
Filing date
Publication date
Application filed by KUKA Deutschland GmbH filed Critical KUKA Deutschland GmbH
Publication of EP3740353A1 publication Critical patent/EP3740353A1/fr
Pending legal-status Critical Current

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
    • 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
    • G05B2219/36457—During teaching, force set point is automatically adapted to circumstances
    • 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
    • G05B2219/39322—Force and position control

Definitions

  • the robot in particular electrical, drives for adjusting the joints.
  • the robot can be used advantageously, in particular flexibly and / or precisely.
  • surface normal An outward normal on a surface in a contact point (surface normal") in one embodiment is perpendicular to one
  • an operator may operate a corresponding physical or software switch or the like.
  • the robot-fixed reference can advantageously be fixed to the surface by control technology and / or imprint a desired process force, for example for processing the surface.
  • a desired process force for example for processing the surface.
  • the surface normal is determined as a function of a contour of the surface determined in a design using a scan, a vision system, or the like.
  • the surface normal in one embodiment is determined as a function of a contour of the surface predetermined in a design based on CAD data or the like.
  • a time and / or equipment expenditure for determining the contour can be omitted.
  • the contact point is determined in response to detection of an environment of the robot-fixed reference, in an embodiment using a scan, a vision system, or the like.
  • FIG. 1 shows a system according to an embodiment of the present invention.
  • FIG. 1 shows a system according to an embodiment of the present invention with a robot 10 having an end effector 11 and a robot controller 30.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé destiné à commander un robot (10) en fonction d'une force externe (Fex) appliquée au robot, selon lequel le robot est commandé (S50), dans un premier mode de fonctionnement, en fonction d'une surface (21), de manière à ce qu'il cherche à suivre davantage une composante tangentielle (Ft) de ladite force perpendiculaire à une normale (n) orientée vers l'extérieur sur la surface, dans un point de contact entre une référence (11) fixe pour le robot et la surface, qu'une composante normale (Fn) de la force en direction de ladite normale de surface.
EP19700912.9A 2018-01-19 2019-01-16 Procédé et système de commande d'un robot Pending EP3740353A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018200864.7A DE102018200864B3 (de) 2018-01-19 2018-01-19 Verfahren und System zum Steuern eines Roboters
PCT/EP2019/051001 WO2019141706A1 (fr) 2018-01-19 2019-01-16 Procédé et système de commande d'un robot

Publications (1)

Publication Number Publication Date
EP3740353A1 true EP3740353A1 (fr) 2020-11-25

Family

ID=65020029

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19700912.9A Pending EP3740353A1 (fr) 2018-01-19 2019-01-16 Procédé et système de commande d'un robot

Country Status (4)

Country Link
EP (1) EP3740353A1 (fr)
CN (1) CN111867788B (fr)
DE (1) DE102018200864B3 (fr)
WO (1) WO2019141706A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019004478B3 (de) 2019-06-26 2020-10-29 Franka Emlka Gmbh System zum Vornehmen einer Eingabe an einem Robotermanipulator
DE102019118263B3 (de) * 2019-07-05 2020-08-20 Franka Emika Gmbh Ausgeben einer Güteinformation über eine Krafterfassung am Robotermanipulator
DE102019118261B3 (de) * 2019-07-05 2020-08-20 Franka Emika Gmbh Vorgeben und Anwenden eines gewünschten Kontaktmoments eines Robotermanipulators
CN112936278B (zh) * 2021-02-07 2022-07-29 深圳市优必选科技股份有限公司 机器人的人机协作控制方法、装置和机器人
DE102021204494A1 (de) * 2021-05-04 2022-11-10 Kuka Deutschland Gmbh Verfahren und System zum Steuern eines Teleroboters

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150081098A1 (en) * 2013-09-19 2015-03-19 Kuka Laboratories Gmbh Method For Manually Adjusting The Pose Of A Manipulator Arm Of An Industrial Robot And Industrial Robots

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Publication number Priority date Publication date Assignee Title
EP0331265B1 (fr) * 1988-03-01 1995-08-23 Hitachi Construction Machinery Co., Ltd. Dispositif de commande de position/force pour machine à usiner avec des degrés de liberté multiples
DE102008062622B9 (de) 2008-12-17 2016-08-25 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Befehlseingabe in eine Steuerung eines Manipulators
CN101811301A (zh) * 2009-10-28 2010-08-25 北京航空航天大学 串并联机器人联合加工系统及其控制方法
CN101913149B (zh) * 2010-07-23 2012-04-04 山东电力研究院 嵌入式轻型机械臂控制器及其控制方法
US9308645B2 (en) 2012-03-21 2016-04-12 GM Global Technology Operations LLC Method of inferring intentions of an operator to move a robotic system
JP5893666B2 (ja) 2014-04-14 2016-03-23 ファナック株式会社 力に応じて動かすロボットのロボット制御装置およびロボットシステム
JP5893664B2 (ja) 2014-04-14 2016-03-23 ファナック株式会社 作用された力に応じて移動されるロボットを制御するロボット制御装置
DE102014010638A1 (de) * 2014-07-17 2016-01-21 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern eines Roboters
DE102015210218B4 (de) 2015-06-02 2024-11-07 Kuka Deutschland Gmbh Verfahren zum Betreiben eines Roboters, zugehöriger Roboter mit einer Vibrationsvorrichtung und Roboterarbeitsplatz
DE102015009151A1 (de) 2015-07-14 2017-01-19 Kuka Roboter Gmbh Ermitteln eines Eingabebefehls für einen Roboter, der durch manuelles Ausüben einer Kraft auf den Roboter eingegeben wird
CN105269565B (zh) * 2015-10-30 2017-04-05 福建长江工业有限公司 一种六轴磨抛工业机器人离线编程及修正方法
CN105710881B (zh) * 2016-03-16 2017-10-31 杭州娃哈哈精密机械有限公司 一种机器人末端连续轨迹规划过渡方法

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150081098A1 (en) * 2013-09-19 2015-03-19 Kuka Laboratories Gmbh Method For Manually Adjusting The Pose Of A Manipulator Arm Of An Industrial Robot And Industrial Robots

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
"Robotics Modelling Planning and Control", 23 December 2009, SPRINGER, article BRUNO SICILIANO ET AL: "Chapter 9 - Force Control - Robotics Modelling Planning and Control", pages: 363 - 406, XP055660304 *
See also references of WO2019141706A1 *

Also Published As

Publication number Publication date
DE102018200864B3 (de) 2019-02-07
WO2019141706A1 (fr) 2019-07-25
CN111867788B (zh) 2023-11-17
CN111867788A (zh) 2020-10-30

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