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1. WO2020193348 - ORIENTATION ANGLE DISPLAY DURING THE MANUAL GUIDANCE OF A ROBOT MANIPULATOR

Publication Number WO/2020/193348
Publication Date 01.10.2020
International Application No. PCT/EP2020/057563
International Filing Date 19.03.2020
IPC
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
G05B 19/423 2006.01
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
CPC
B25J 9/1694
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1694characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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 2219/37134
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
37Measurements
37134Gyroscope
G05B 2219/40457
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
40457End effector position error
G05B 2219/40459
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
40459Minimum torque change model
Applicants
  • FRANKA EMIKA GMBH [DE]/[DE]
Inventors
  • ROKAHR, Tim
  • SPENNINGER, Andreas
Agents
  • RÖSLER, Frank
Priority Data
10 2019 107 969.128.03.2019DE
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) LAGEWINKELANZEIGE BEIM MANUELLEN FÜHREN EINES ROBOTERMANIPULATORS
(EN) ORIENTATION ANGLE DISPLAY DURING THE MANUAL GUIDANCE OF A ROBOT MANIPULATOR
(FR) AFFICHAGE DE LA POSITION ANGULAIRE LORS DU GUIDAGE MANUEL D’UN MANIPULATEUR DE ROBOT
Abstract
(DE)
Die Erfindung betrifft ein Robotersystem (1) mit einem Robotermanipulator (3) und mit einer visuellen Ausgabeeinheit (9), wobei der Robotermanipulator (3) ein Roboterglied (5) aufweist und das Roboterglied (5) eine inertiale Messeinheit (7) aufweist, wobei die inertiale Messeinheit (7) dazu ausgeführt ist, die Richtung eines Schwerkraftvektors in einem unbewegten Zustand des Roboterglieds (5) zu ermitteln, und über eine Vielzahl von Zeitpunkten eine aktuelle Orientierung des Roboterglieds (5) gegenüber dem Schwerkraftvektor mittels Lagekreisel zu ermitteln, und die aktuelle Orientierung des Roboterglieds (5) gegenüber dem Schwerkraftvektor an die visuelle Ausgabeeinheit (9) zu übermitteln, und wobei die visuelle Ausgabeeinheit (9) dazu ausgeführt ist, die aktuelle Orientierung des Roboterglieds (5) gegenüber dem Schwerkraftvektor anzuzeigen.
(EN)
The invention relates to a robot system (1) comprising a robot manipulator (3) and a visual output unit (9), the robot manipulator (3) having a robot link (5) and said robot link (5) having an inertial measuring unit (7), the inertial measuring unit (7) being designed to determine the direction of a gravity vector when the robot link (5) is immobile, and to determine, over a plurality of points in time, the actual orientation of the robot link (5) in relation to the gravity vector using an attitude gyro, and to transmit, to the visual output unit (9) the current orientation of the robot link (5) in relation to the gravity vector, and the visual output unit (9) is designed to display the current orientation of the robot link (5) in relation to the gravity vector.
(FR)
L’invention concerne un système robot (1) comprenant un manipulateur de robot (3) et comprenant une unité de sortie visuelle (9), le manipulateur de robot (3) présentant un élément de robot (5) et l'élément de robot (5) présentant une unité de mesure (7) inertielle, l'unité de mesure (7) inertielle étant conçue pour déterminer la direction d’un vecteur de gravité dans un état stationnaire de l'élément de robot (5), et pour déterminer à une pluralité de moments une orientation actuelle de l'élément de robot (5) par rapport au vecteur de gravité au moyen d’un gyroscope, et pour transmettre l’orientation actuelle de l'élément de robot (5) par rapport au vecteur de gravité à l'unité de sortie visuelle (9), et l'unité de sortie visuelle (9) étant conçue pour afficher l’orientation actuelle de l'élément de robot (5) par rapport au vecteur de gravité.
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