WO2005124486A3 - Method and system for off-line programming of multiple interacting robots - Google Patents

Method and system for off-line programming of multiple interacting robots Download PDF

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Publication number
WO2005124486A3
WO2005124486A3 PCT/EP2005/006436 EP2005006436W WO2005124486A3 WO 2005124486 A3 WO2005124486 A3 WO 2005124486A3 EP 2005006436 W EP2005006436 W EP 2005006436W WO 2005124486 A3 WO2005124486 A3 WO 2005124486A3
Authority
WO
WIPO (PCT)
Prior art keywords
multiple interacting
line programming
interacting robots
robots
computer
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.)
Ceased
Application number
PCT/EP2005/006436
Other languages
French (fr)
Other versions
WO2005124486A2 (en
Inventor
Jonas Anselmby
Volker Miegel
Jochen Bargfrede
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.)
ABB AB
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
Priority to US11/629,284 priority Critical patent/US9104197B2/en
Priority to DE602005006126T priority patent/DE602005006126T2/en
Priority to EP05751706A priority patent/EP1756684B1/en
Priority to JP2007515872A priority patent/JP2008502488A/en
Publication of WO2005124486A2 publication Critical patent/WO2005124486A2/en
Publication of WO2005124486A3 publication Critical patent/WO2005124486A3/en
Anticipated expiration legal-status Critical
Priority to US14/664,294 priority patent/US9390203B2/en
Ceased legal-status Critical Current

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Classifications

    • 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
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40317—For collision avoidance and detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Selective Calling Equipment (AREA)

Abstract

A method and apparatus are disclosed for off-line programming of multiple interacting robots. For example, a system for off-line programming (100) of multiple interacting robots includes a computer (110) for off-line programming and verification of program codes (111) for multiple interacting robots (131-133) and a robot controller (120) connected to the computer (110) to receive a download of at least one of the program codes for execution. Multiple interacting robots (131-133) can be controlled by the robot controller (120).
PCT/EP2005/006436 2004-06-15 2005-06-15 Method and system for off-line programming of multiple interacting robots Ceased WO2005124486A2 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
US11/629,284 US9104197B2 (en) 2004-06-15 2005-06-15 Method and system for off-line programming of multiple interacting robots
DE602005006126T DE602005006126T2 (en) 2004-06-15 2005-06-15 METHOD AND SYSTEM FOR OFF-LINE PROGRAMMING OF SEVERAL INTERACTIVE ROBOTS
EP05751706A EP1756684B1 (en) 2004-06-15 2005-06-15 Method and system for off-line programming of multiple interacting robots
JP2007515872A JP2008502488A (en) 2004-06-15 2005-06-15 Method and system for offline programming of multiple interactive robots
US14/664,294 US9390203B2 (en) 2004-06-15 2015-03-20 Method and system for off-line programming of multiple interacting robots

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US57926304P 2004-06-15 2004-06-15
US60/579,263 2004-06-15

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US11/629,284 A-371-Of-International US9104197B2 (en) 2004-06-15 2005-06-15 Method and system for off-line programming of multiple interacting robots
US14/664,294 Continuation-In-Part US9390203B2 (en) 2004-06-15 2015-03-20 Method and system for off-line programming of multiple interacting robots

Publications (2)

Publication Number Publication Date
WO2005124486A2 WO2005124486A2 (en) 2005-12-29
WO2005124486A3 true WO2005124486A3 (en) 2006-06-08

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/006436 Ceased WO2005124486A2 (en) 2004-06-15 2005-06-15 Method and system for off-line programming of multiple interacting robots

Country Status (7)

Country Link
US (1) US9104197B2 (en)
EP (1) EP1756684B1 (en)
JP (1) JP2008502488A (en)
AT (1) ATE392656T1 (en)
DE (1) DE602005006126T2 (en)
ES (1) ES2306161T3 (en)
WO (1) WO2005124486A2 (en)

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