WO2017063733A1 - Référencement haptique d'un manipulateur - Google Patents

Référencement haptique d'un manipulateur Download PDF

Info

Publication number
WO2017063733A1
WO2017063733A1 PCT/EP2016/001666 EP2016001666W WO2017063733A1 WO 2017063733 A1 WO2017063733 A1 WO 2017063733A1 EP 2016001666 W EP2016001666 W EP 2016001666W WO 2017063733 A1 WO2017063733 A1 WO 2017063733A1
Authority
WO
WIPO (PCT)
Prior art keywords
manipulator
platform
reference body
robot system
coupling
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/EP2016/001666
Other languages
German (de)
English (en)
Inventor
Klaus Miller
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 Roboter 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 Roboter GmbH filed Critical KUKA Roboter GmbH
Priority to EP16778994.0A priority Critical patent/EP3362229A1/fr
Publication of WO2017063733A1 publication Critical patent/WO2017063733A1/fr
Anticipated expiration legal-status Critical
Ceased 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
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • 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
    • B25J9/1692—Calibration of 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
    • G05B2219/39021—With probe, touch reference positions
    • 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
    • G05B2219/39024—Calibration of 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50033—Align tool, tip with a calibration mask

Definitions

  • the present invention relates to a method for controlling a
  • Robot system and in particular for aligning a robot system to a reference body. Furthermore, the invention relates to a corresponding
  • Robots are freely programmable, program-controlled
  • a manipulator may include various members and axes whose movement may be controlled by driving respective motors, and in particular servomotors.
  • Manipulators may be provided on mobile platforms which may, for example, move the manipulators through a factory floor.
  • the platforms can be active or passive, that is, have a standalone drive and independent control or not.
  • such a mobile manipulator can be moved to a workpiece in order to subsequently process it.
  • odometry or laser navigation can be used.
  • CONFIRMATION COPY mobile manipulator is given. An appropriate control is thus known exactly where the mobile manipulator is with respect to the workstation and the component to be processed. Subsequently, an automatic processing step of a robot program can be executed without restrictions.
  • a positioning system disclosed therein includes a macro-positioning subsystem and a micro-positioning subsystem.
  • the micro-positioning system is provided between a robot and a workstation to enable a fine mechanical positioning.
  • the document EP 2 590 787 Bi relates to a method for calibrating a robot.
  • a CAD model is generated by means of a CAD software, and then compared with a second CAD model, which was generated based on 3D measurements.
  • a method is to be provided which enables an unrestricted automatic and precise application sequence of a mobile manipulator. Cost-intensive external sensors for aligning should preferably be dispensed with here.
  • Robot system according to claim 11 solved.
  • the present invention relates to a method for controlling a
  • the robot system can be aligned to a workstation at which a work step is to be performed by means of the robot system. This can be the
  • the robot system can align itself by means of the method according to the invention to such a workstation and subsequently handle a component based on the orientation.
  • the workstation can include the component.
  • the robotic system includes a manipulator as well as a mobile platform supporting the manipulator.
  • the manipulator is a
  • the mobile platform can be part of
  • Manipulator for example, a movable manipulator foot.
  • the mobile platform can also be provided as a separate transport system, which can enable an autonomous movement of the manipulator.
  • the mobile platform may be an omnidirectionally mobile platform.
  • the platform may be passively movable, and may be pushed by an operator, for example.
  • the platform can also have its own drive and corresponding control.
  • the mobile platform is connected to the manipulator.
  • the method includes providing a reference body.
  • Reference body may for example be arranged on a workstation or a component, and is preferably fixed in place and provided separately from the manipulator and the mobile platform.
  • the method further comprises providing a reference position of the platform and a reference configuration of the manipulator.
  • the Reference position of the platform may refer to the reference body and may further correspond to a certain transformation between the reference body and the platform.
  • the reference position and the reference configuration may, for example, have been detected during a previous application programming.
  • the reference position of the platform may, for example, comprise a two-dimensional position and an orientation of the platform.
  • the reference configuration of the manipulator may include, for example, an axis configuration of the manipulator or a pose of the manipulator.
  • the method further includes approximating the platform to the provided reference position of the platform.
  • the mobile platform can be actively controlled, or passively moved by an operator.
  • the approach of the platform can also be done by moving the robot system to the reference body.
  • the platform can be moved here in order to reach the reference position of the platform.
  • the method further comprises coupling the manipulator to the
  • Robot system achieved by e.g. an end effector of the manipulator grips the reference body.
  • a direct connection between the manipulator and the reference body can be produced.
  • the mobile platform is connected via the manipulator with the reference body.
  • the coupling is a releasable coupling, so that a coupled state can be canceled after a successful referencing.
  • the method comprises a control of the robot system in the coupled state, so that the reference configuration of the manipulator is taken.
  • the manipulator and / or the mobile platform can be controlled and moved accordingly.
  • the reference body is preferably not moved in this case to a falsified referencing counteract. Due to the existing coupling between the
  • the manipulator can not move completely free, but is limited due to the coupling in its movement.
  • the manipulator has assumed the reference configuration. Since the manipulator is coupled to the reference body, thus the position and preferably also the orientation of the manipulator are precisely defined, at least with regard to the reference body. Thus, since the manipulator and platform are connected to each other, preferably also the position of the mobile platform with respect to the reference body is precisely defined. The robot system is thus referenced with respect to the reference body.
  • Robot system External sensors for referencing are not necessary.
  • the steps described above can be carried out automatically, for example before or during an automatic execution of an application.
  • the robot system can
  • the driving of the robot system in the coupled state further takes place such that the reference position of the mobile platform is taken. For example, if an end effector of the manipulator to the
  • Reference body is coupled, and a foot of the manipulator is connected to the mobile platform, as a result of driving the robot system, so that the manipulator assumes the reference configuration that with the
  • Manipulator connected platform occupy the reference position.
  • the mobile platform can be moved as a passive element through the manipulator, so be pushed into the reference position.
  • the mobile platform can be controlled accordingly to follow a guidance of the manipulator.
  • a controller of the manipulator may be connected to a corresponding controller of the manipulator.
  • the mobile platform may include sensors that detect forces coming from the Manipulator can be exercised on the platform as a result of driving.
  • the mobile platform can drive its drives to follow the manager of the manipulator.
  • the position and preferably also the orientation of the mobile platform with respect to the reference body or in terms of the component are precisely defined.
  • the coordinate system of the manipulator which itself may be defined with regard to the mobile platform, is thus assigned precisely to the reference position of the mobile platform.
  • the manipulator can therefore precisely edit a component whose position is stored with respect to the reference body.
  • connection between the manipulator and the reference body there is a connection between the manipulator and the reference body.
  • a mechanical or magnetic connection between the manipulator and the reference body.
  • the robot system can align itself if it is driven accordingly, while the manipulator is still connected to the reference body and thus has a fixed reference point, by which the movement takes place as a result of the driving.
  • coupling for example, a magnetic
  • Coupling device of the manipulator are moved efficiently by means of magnetic tensile forces to a ferrous reference body.
  • an intermediate position of the platform is achieved as a result of approaching the platform to the reference position of the platform.
  • Intermediate position is typically different from the reference position of the platform.
  • the robot system therefore does not have to be precisely approximated to the reference position of the platform, since the precise alignment or referencing takes place automatically later by means of the manipulator. For example, a worker may manually move the robot system near the reference body and near the reference position of the mobile platform. The platform reaches the intermediate position. In order to perform an accurate execution of a programmed application, is by means of the Manipulator first brought the platform automatically in the reference position.
  • the method further comprises detecting for the
  • Robot system acting forces and moments During the approach of the platform and / or during the Koppeins of the manipulator while the robot system and in particular preferably the manipulator is operated by means of a force control using the detected forces and moments.
  • the force control can be a compliance control
  • the robot system may be at least partially soft-wired and may be regulated according to external forces, so that the external forces acting on the robot system are reduced due to a corresponding movement of the robot system. This allows the manipulator to couple to the reference body without the manipulator and / or the
  • Reference body be damaged.
  • a haptisehes coupling can take place, in which the manipulator recognizes the reference body and coupled to these.
  • the approach of the platform to the reference position can also be such that a collision between the robot system and
  • a workstation on which the reference body may be located is prevented.
  • a haptisehes referencing can be made possible.
  • the coupling of the manipulator to the reference body comprises a frictional coupling.
  • a frictional connection between the manipulator and the reference body preferably due to the Koppeins a frictional connection between the manipulator and the reference body
  • the robot system can align itself as a result of the drive while it is in the coupled state.
  • the manipulator can refer to the reference body or from this
  • the reference body is accordingly fixed and dimensioned sufficiently rigid.
  • the coupling of the manipulator to the reference body comprises a positive coupling.
  • the coupling of the manipulator to the reference body takes place such that a coupling device of the manipulator is in a predefined orientation relative to the reference body.
  • the coupling device of the manipulator is in a predefined orientation relative to the reference body.
  • Coupling device comprise an end effector of the manipulator.
  • the end effector form the coupling device.
  • the coupling device or the end effector in the coupled state is preferably in a predefined position and orientation with respect to the referent body.
  • the coupling of the manipulator takes place at the
  • the coding and counter-coding may be based on structural features and, for example, due to the key-lock principle, prevent the manipulator from coupling to an incorrect location. Thus, it can be efficiently ensured that the manipulator is coupled to the correct reference body, and that the coupled manipulator is in a desired orientation to the patient
  • the coding and counter-coding can be present for example as three-dimensional coding and Gegenkodier lake, which can only interlock when a certain orientation of the surfaces to each other is present.
  • providing the reference position of the platform and the reference configuration of the manipulator comprises moving the mobile platform to a position where the manipulator can reach the reference body, coupling the manipulator to the reference body, and detecting the position as the reference position of the platform and the configuration of the manipulator in the coupled state as the reference configuration of
  • Application programming carried out and can be at least partially performed or controlled manually by a programmer.
  • the present invention comprises a robot system comprising a manipulator and a manipulator-supporting mobile platform.
  • the manipulator is a multi-axis articulated arm robot.
  • the multi-axis articulated robot as
  • the robot system has a
  • Control which is adapted to perform a method described above for controlling the robot system.
  • the robotic system may include corresponding means for performing such a method, such as a coupling device.
  • the robot system comprises sensors for detecting on the
  • 6-axis force / torque sensors can be used which, based on strain gauges or strain gauges, force- and torque components that act on the manipulator can capture.
  • Figs. 1-5 a robot system according to an embodiment in different constellations.
  • FIG. 1 shows a robot system comprising a manipulator 4 and a mobile platform 3, which supports the manipulator 4.
  • the mobile platform can be moved in x- and y-direction, and thus the
  • the mobile platform 3 may be an omnidirectionally movable platform that can be pushed as a passive platform by a worker.
  • the axes of the platform are actively driven, so that the platform can move programmatically automatically and autonomously.
  • the mobile platform may include navigation means, such as lasers.
  • An actively driven platform can also passively be pushed by a worker while the brakes are released.
  • the manipulator 4 is designed as a multi-axis articulated arm robot, on the hand flange of a gripper 5 and a coupling device 6 are provided in the form of a loop. Furthermore, a workstation 1 is shown in FIG. At this there is a contact device 2, to which the coupling device 6 of the manipulator 4 is coupled.
  • the contact device 2 represents the reference body in the context of the invention.
  • the mobile platform is moved to a position 7a in which the manipulator 4 with its coupling device 6 can reach the contact device 2.
  • this can be done manually to the
  • Workstation 1 are pushed. In the case of an actively driven platform 3 this can be moved in manual mode, such as by means of a remote control, in front of the workstation l.
  • the manipulator 4 is coupled to the contact device 2 as shown in FIG.
  • the manipulator is manually approximated to the workstation 1, and then by means of the coupling device 6 to the
  • the position 7a of the mobile platform 3 including the translational components xa, ya and the rotational component 0a is stored as the reference position of the mobile platform 3.
  • the axle configuration ⁇ , ⁇ , ⁇ , ⁇ the manipulator 4 is stored in the coupled state as the reference configuration of the manipulator.
  • an application can then be programmed.
  • the coupling between the manipulator 4 and the contact device 2 is released.
  • the mobile platform 3 has not been moved for this purpose in the illustrated embodiment and is still - with activated brakes - at the position 7a.
  • the configuration of the manipulator 4 has been changed according to the application to be programmed, and u.a. a gripping point 9 stored at the workstation 1.
  • the mobile platform 3 which was previously located, for example, at another workstation, approximates to the reference position 7a of the platform. This can for example be done automatically by autonomous navigation or by manual pushing. Due to positioning errors, however, typically only a different intermediate position 7b with the coordinates xb, yb, 6b is achieved. If the programmed application is now executed without referencing would be, would not ensure that the approached to train points that are defined with respect to the workstation ⁇ , precise or due to
  • Axis limits can be achieved at all with the manipulator. For example, a position can not be approached with sufficient accuracy or can not be achieved due to axle limits. Furthermore, due to the changed initial configuration and the resulting singularities, a linear movement can not be carried out. Furthermore, this could set a singularity of Achswolf, so that under certain circumstances, a gripping position can not be achieved. As shown in Figure 4, therefore, first by means of an automatic
  • Manipulator 4 are operated by means of compliance control, so that the positive connection 8 between the coupling device 6 and
  • Contact device 2 can be achieved easily.
  • a configuration of the manipulator is associated with e.g. the axis coordinates ⁇ 3, ⁇ 3, Y3, £ 3.
  • the positioning error of the mobile platform 3 is corrected.
  • the manipulator 4 can be controlled directly in the Referenzachskonfiguration ⁇ , ⁇ , ⁇ , ⁇ .
  • the mobile platform 3, which is permanently connected to the manipulator 4 is guided or pulled into the associated reference position xa, ya, 0a, as shown in FIG.
  • the coupling can be solved and the following application step can be performed.
  • the base of the manipulator is now in the same place as in the application programming, so that the programmed movement of the manipulator can be performed as desired.
  • the reference configuration ⁇ , ⁇ , ⁇ , ⁇ of the If the platform 3 is an actively driven platform, the reference configuration ⁇ , ⁇ , ⁇ , ⁇ of the.
  • an inverse kinematics which includes all degrees of freedom of the overall system, by means of a null space movement

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un procédé pour commander un système robotique, et notamment pour orienter un système robotique par rapport à un corps de référence. Ledit système robotique comprend un manipulateur et une plateforme mobile qui sert de support audit manipulateur. Selon l'invention, une position de référence de la plateforme par rapport au corps de référence et une configuration de référence du manipulateur sont fournies. En outre, le manipulateur est couplé au corps de référence, et le système robotique est commandé à l'état couplé de manière à adopter la configuration de référence du manipulateur.
PCT/EP2016/001666 2015-10-15 2016-10-07 Référencement haptique d'un manipulateur Ceased WO2017063733A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP16778994.0A EP3362229A1 (fr) 2015-10-15 2016-10-07 Référencement haptique d'un manipulateur

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015220066.3A DE102015220066A1 (de) 2015-10-15 2015-10-15 Haptisches Referenzieren eines Manipulators
DE102015220066.3 2015-10-15

Publications (1)

Publication Number Publication Date
WO2017063733A1 true WO2017063733A1 (fr) 2017-04-20

Family

ID=57123952

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/001666 Ceased WO2017063733A1 (fr) 2015-10-15 2016-10-07 Référencement haptique d'un manipulateur

Country Status (3)

Country Link
EP (1) EP3362229A1 (fr)
DE (1) DE102015220066A1 (fr)
WO (1) WO2017063733A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111278610A (zh) * 2017-10-25 2020-06-12 库卡德国有限公司 用于运行可移动机器人的方法和系统

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA3026002C (fr) 2016-09-06 2021-04-20 Advanced Intelligent Systems Inc. Poste de travail mobile destine a transporter une pluralite d'articles
WO2019157587A1 (fr) 2018-02-15 2019-08-22 Advanced Intelligent Systems Inc. Appareil de support d'un article pendant le transport
FR3086571B1 (fr) * 2018-09-28 2020-11-20 Univ Nantes Systeme de bras robot, et procede pour emettre un signal d'information en cas de detection d'un etat critique dans ledit systeme de bras robot
US10745219B2 (en) 2018-09-28 2020-08-18 Advanced Intelligent Systems Inc. Manipulator apparatus, methods, and systems with at least one cable
US10751888B2 (en) 2018-10-04 2020-08-25 Advanced Intelligent Systems Inc. Manipulator apparatus for operating on articles
US10966374B2 (en) 2018-10-29 2021-04-06 Advanced Intelligent Systems Inc. Method and apparatus for performing pruning operations using an autonomous vehicle
US10645882B1 (en) 2018-10-29 2020-05-12 Advanced Intelligent Systems Inc. Method and apparatus for performing pruning operations using an autonomous vehicle
DE102018219150A1 (de) * 2018-11-09 2020-05-14 Volkswagen Aktiengesellschaft Automatisierungsvorrichtung
US20230062304A1 (en) 2018-11-20 2023-03-02 Advanced Intelligent Systems Inc. Systems, methods, and storage units for article transport and storage
DE102019131401B3 (de) * 2019-11-21 2020-10-29 Franka Emika Gmbh Kalibrierung einer Impedanzregelung eines Robotermanipulators
DE102020213127B3 (de) 2020-10-19 2022-01-20 Kuka Deutschland Gmbh Verfahren und System zum Betreiben eines Roboters
DE102022114082B4 (de) 2022-06-03 2024-08-01 Festo Se & Co. Kg Verfahren zum Betreiben eines mobilen Roboters

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130006421A1 (en) * 2010-03-18 2013-01-03 Torgny Brogardh Calibration Of A Base Coordinate System For An Industrial Robot
US20140277722A1 (en) * 2013-03-15 2014-09-18 Kabushiki Kaisha Yaskawa Denki Robot system, calibration method, and method for producing to-be-processed material
US20150045953A1 (en) * 2013-08-09 2015-02-12 Kabushiki Kaisha Yaskawa Denki Robot system, robot control apparatus, method for controlling robot

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3246828C2 (de) * 1982-12-17 1987-04-02 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Mobile Transport- und Handhabungseinrichtung
US6429016B1 (en) 1999-10-01 2002-08-06 Isis Pharmaceuticals, Inc. System and method for sample positioning in a robotic system
SE1050763A1 (sv) 2010-07-08 2010-07-12 Abb Research Ltd En metod för att kalibrera en mobil robot
DE202012100646U1 (de) * 2012-02-27 2013-06-04 Kuka Systems Gmbh Roboteranordnung
DE102014205654A1 (de) * 2014-03-26 2015-10-01 Bayerische Motoren Werke Aktiengesellschaft Mobile Robotereinheit und Verfahren zum Integrieren einer mobilen Robotereinheit in ein Montagesystem

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130006421A1 (en) * 2010-03-18 2013-01-03 Torgny Brogardh Calibration Of A Base Coordinate System For An Industrial Robot
US20140277722A1 (en) * 2013-03-15 2014-09-18 Kabushiki Kaisha Yaskawa Denki Robot system, calibration method, and method for producing to-be-processed material
US20150045953A1 (en) * 2013-08-09 2015-02-12 Kabushiki Kaisha Yaskawa Denki Robot system, robot control apparatus, method for controlling robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111278610A (zh) * 2017-10-25 2020-06-12 库卡德国有限公司 用于运行可移动机器人的方法和系统

Also Published As

Publication number Publication date
DE102015220066A1 (de) 2017-04-20
EP3362229A1 (fr) 2018-08-22

Similar Documents

Publication Publication Date Title
EP3362229A1 (fr) Référencement haptique d'un manipulateur
DE102017009939B4 (de) Verfahren und System zum Betreiben eines mobilen Roboters
EP2851162B1 (fr) Procédé de réglage manuel de la pose d'un bras manipulateur d'un robot industriel et robot industriel associé
EP2868445B1 (fr) Procédé de programmation de déroulements de mouvement d'un robot industriel redondant et robot industriel associé
EP1950010B1 (fr) Robot et procédé de programmation d'un robot
DE102017128652B4 (de) Robotersystem mit einer mehrzahl von robotern, robotersteuerung und robotersteuerverfahren
DE102015008144B4 (de) Umschalten einer Steuerung eines Roboters in einen Handführ-Betriebsmodus
EP3581340B1 (fr) Procédé de commande d'un robot, mémoire de données correspondant et robot
DE102007026299B4 (de) Industrieroboter und Verfahren zum Programmieren eines Industrieroboters
DE102018007842B4 (de) Steuergerät zum Überwachen der Bewegungsrichtung eines Betätigungswerkzeugs
EP2407282A2 (fr) Procédé de mesure du bras d'un robot industriel
WO2018024366A1 (fr) Système robotique à robots mobiles
EP2919081B1 (fr) Machine d'usinage avec prise en compte des erreurs de position lors du contrôle de collision
EP3037905B1 (fr) Dispositif et procédé destinés à enregistrer des positions
DE102022110140B4 (de) Konforme präsentation der nutzlast durch ein robotersystem mit koordinierten seriellen und parallelen robotern
WO2019096479A1 (fr) Procédé et moyen pour faire fonctionner un système robotique
WO2015158612A1 (fr) Dispositif robot présentant un axe linéaire
DE102007029398A1 (de) Verfahren und Vorrichtung zum Programmieren eines Industrieroboters
EP3812106B1 (fr) Agencement de robot, procédé de fonctionnement de l'agencement de robot, programme informatique ainsi que support d'enregistrement lisible par machine
WO2017064105A2 (fr) Souris à axes multiples pour robot à axes multiples
DE102022126199B4 (de) Unterbetätigtes Fügesystem für sich bewegende Montagelinie
DE102015200319A1 (de) Einmessverfahren aus Kombination von Vorpositionierung und Handführen
DE102012208252A1 (de) Verfahren und Vorrichtung zur hochgenauen Positionierung eines durch einen Roboter geführten Werkzeugs
EP3448631A1 (fr) Robot à support mobile et manipulateur
EP3268172B1 (fr) Procédé de commande d'un manipulateur pour la mise en oeuvre d'un processus de travail

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16778994

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE