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1. US20190061148 - ROBOT WITH CONTROL SYSTEM FOR DISCRETE MANUAL INPUT OF POSITIONS AND/OR POSES

Amt Vereinigte Staaten von Amerika
Aktenzeichen/Anmeldenummer 15773630
Anmeldedatum 25.10.2016
Veröffentlichungsnummer 20190061148
Veröffentlichungsdatum 28.02.2019
Veröffentlichungsart A1
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 9/163
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
163learning, adaptive, model based, rule based expert control
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 9/1664
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 2219/36433
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
G05B 2219/40471
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
40Robotics, robotics mapping to robotics vision
40471Using gradient method
Anmelder FRANKA EMIKA GmbH
Erfinder Sami HADDADIN
Prioritätsdaten 10 2015 118 918.6 04.11.2015 DE
Titel
(EN) ROBOT WITH CONTROL SYSTEM FOR DISCRETE MANUAL INPUT OF POSITIONS AND/OR POSES
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 actuators (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, in an input mode, it learns positions POSPS 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 FEING on the movable robot structure in order to move the structural element S, which is conveyed to the point PS as FEING,PS, and/or to the structural element S as torque MEING,S. A control device (103) of the robot is designed such that, in the input mode, the actuators (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 FGRID (POSPS), 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|<|FGRID(POSPS) and/or, in the input mode, the actuators (101) are controlled on the basis of a pre-defined virtual discrete 3D orientation space O, where the 3D orientation space O=: (αi, βj, γk) where i=1, 2, . . . , I, j=1, 2, . . . J, k=1, 2, . . . , K is defined or can be defined by a pre-defined angle αi, βj, γk, in such a way that the structural element S is moved with a pre-defined torque)(SO ROM according to the current orientation ORS of the structural element, towards the adjacent discrete orientation of the 3D orientation space O=: (αi, βj, γk), S, the structural element remaining in said adjacent discrete orientation of the 3D orientation space O in the event that the following holds true: |MEING,S|<|MO(ORS).