In Bearbeitung

Bitte warten ...

Einstellungen

Einstellungen

Gehe zu Anmeldung

1. CN108290287 - Robot with control system for discrete manual input of positions and/or poses

Amt China
Aktenzeichen/Anmeldenummer 201680062483.5
Anmeldedatum 25.10.2016
Veröffentlichungsnummer 108290287
Veröffentlichungsdatum 17.07.2018
Veröffentlichungsart A
IPC
B25J 9/16
BArbeitsverfahren; Transportieren
25Handwerkzeuge; tragbare Werkzeuge mit Kraftantrieb; Griffe für Handgeräte; Werkstatteinrichtungen; Manipulatoren
JManipulatoren; mit Manipuliereinrichtungen ausgestattete Räume
9Programmgesteuerte Manipulatoren
16Programmsteuerungen
G05B 19/423
GPhysik
05Steuern; Regeln
BSteuer- oder Regelsysteme allgemein; funktionelle Elemente solcher Systeme; Überwachungs- oder Prüfanordnungen für solche Systeme oder Elemente
19Programmsteuersysteme
02elektrisch
42Systeme, in denen das Programm durch einen, z.B. von Hand gesteuerten Zyklus von Operationen zusammengestellt wird, worauf die Aufzeichnung an der gleichen Maschine abläuft
423Lehren aufeinanderfolgender Positionen durch das Abfahren einer Bahn, d.h. der Werkzeugkopf oder das Wirkorgan wird ergriffen und mit oder ohne Antriebsunterstützung direkt geführt, um einer Bahn zu folgen
CPC
B25J 9/1633
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1633compliant, force, torque control, e.g. combined with position control
B25J 9/1656
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
B25J 9/1664
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1664characterised by motion, path, trajectory planning
G05B 19/423
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
42Recording and playback systems, i.e. in which the programme 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
423Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
G05B 2219/36427
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
36Nc in input of data, input key till input tape
36427Jog feed to a command position, if close enough robot takes over positioning
G05B 2219/36433
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
36Nc in input of data, input key till input tape
36433Position assisted teaching
Anmelder HADDADIN BETEILIGUNGS UG (HAFTUNGSBESCHRANKT)
富兰卡爱米卡股份有限公司
Erfinder HADDADIN SAMI
萨米·哈达丁
Vertreter 北京汇思诚业知识产权代理有限公司 11444
北京汇思诚业知识产权代理有限公司 11444
Prioritätsdaten 102015118918.6 04.11.2015 DE
Titel
(EN) Robot with control system for discrete manual input of positions and/or poses
(ZH) 具有对位置和/或姿势的离散化手动输入的控制的机器人
Zusammenfassung
(EN)
The invention relates to a robot, a robot control system, and a method for controlling a robot. The robot comprises a movable, multi-membered robot structure (102) that can be driven by means of actors (101), at least one marked structural element S being defined on the movable robot structure (102), with at least one point PS marked on the structural element S. The robot is designed such that, inan input mode, it learns positions POS PS of the point PS and/or poses of the structural element S in a work space of the robot, the user exerting an input force F EING on the movable robot structurein order to move the structural element S, which is conveyed to the point PS as F EING, PS , and/or to the structural element S as torque M EING,S . A control device (103) of the robot is designed such that, in the input mode, the actors (101) are controlled on the basis of a pre-defined space-fixed virtual 3D grid that at least partially fills the work space, such that the structural element S is moved with a pre-defined force F GRID (POS PS ), according to the current position POSPS of the point PS in the 3D grid, to the adjacent grid point of the 3D grid or in a grid point space defined around the adjacent grid point of the 3D grid, the point PS of the structural element S remaining on said adjacent grid point or in said grid point space in the event of the following holding true: |,FEING,PS <|)(| F GRID (POS PS ) and/or, in the input mode, the actors (101) are controlled on the basis of a pre-defined virtual discrete 3D orientation space O, where the 3D orientation space O =: ([alpha]i, [beta]j, [gamma]k) where i = 1, 2, to I, j = 1, 2,to J, k = 1, 2,to K is defined or can be defined by a pre-defined angle [alpha]i, [beta]j, [gamma]k, in such a way that the structural elementS is moved with a pre-defined torque )( SO ROM according to the current orientation OR S of the structural element, towards the adjacent discrete orientation of the 3D orientation space O =: ([alpha]i, [beta]j, [gamma]k), S, the structural element remaining in said adjacent discrete orientation of the 3D orientation space O in the event that the following holds true:||,M EING,S<|)(|M O (OR S ).

(ZH)
本发明涉及一种机器人、一种机器人控制和一种用于控制机器人的方法。该机器人具有可运动的、多区段的、能够借助致动器(101)驱动的机器人结构(102),在可运动的机器人结构(102)上定义至少一个标出的结构元件S,其具有至少一个在该结构元件S上标出的点PS。机器人设置为,使得机器人在输入模式中学习在机器人的工作空间中的点PS的位置POSPS和/或的结构元件S姿势,其中,用户为了使结构元件S运动而在可运动的机器人结构上施加输入力FEING,其作为FEING,PS传递到点PS和/或作为力矩MEING,S传递到结构元件S。机器人的控制装置(103)设置为,在输入模式中,基于预设的、至少部分填满工作空间的、空间固定的虚拟的3D网格控制致动器(101),从而通过取决于点PS在3D网格中的位置POSPS的、预设的力FGRID(POSPS)使结构元件S移动到3D网格的最接近的网格点上或者移动到围绕3D网格的最接近的网格点定义的网格点体积中,结构元件S的点PS在||,FEING,PS<|)(|FGRID(POSPS)适用的情况下保持在该最接近的网格点上或保持在该网格点体积中;和/或,在输入模式中,基于预设的、虚拟的离散3D取向空间O控制致动器(101),其中,3D取向空间O=:(αi,βj,γk)通过预设的角度αi,βj,γk定义,其中,i=1,2,...,I,j=1,2,...J,k=1,2,...,K,从而通过取决于结构元件S的当前取向ORS的、预设的力矩SO ROM使结构元件S移动到3D取向空间O=:(αi,βj,γk)的最接近的离散取向,结构元件S在||,MEING,S<|)(|MO(ORS)适用的情况下保持在3D取向空间O的最接近的离散取向中。