[go: up one dir, main page]

MX2015005051A - Metodo y sistema para la determinacion de al menos una prodiedad de una articulacion. - Google Patents

Metodo y sistema para la determinacion de al menos una prodiedad de una articulacion.

Info

Publication number
MX2015005051A
MX2015005051A MX2015005051A MX2015005051A MX2015005051A MX 2015005051 A MX2015005051 A MX 2015005051A MX 2015005051 A MX2015005051 A MX 2015005051A MX 2015005051 A MX2015005051 A MX 2015005051A MX 2015005051 A MX2015005051 A MX 2015005051A
Authority
MX
Mexico
Prior art keywords
joint
property
actuator
determining
output value
Prior art date
Application number
MX2015005051A
Other languages
English (en)
Other versions
MX343791B (es
Inventor
Klas Nilsson
Original Assignee
Cognibotics 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 Cognibotics Ab filed Critical Cognibotics Ab
Publication of MX2015005051A publication Critical patent/MX2015005051A/es
Publication of MX343791B publication Critical patent/MX343791B/es

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • 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
    • G05B2219/40381—Control trajectory in case of joint limit, clamping of joint
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41059—Play in gear, screw backlash, lost motion

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)

Abstract

La invención se refiere a un método para determinar al menos una propiedad de una articulación, tal como una articulación (112, 114, 116-119, 180) de un manipulador (180) donde dicha articulación está configurada para que al menos un actuador la impulse, estando el actuador configurado para impulsar dicha articulación (112, 114, 116-119, 180) mediante un tren de potencia. El método comprende: fijar (200) dicha articulación de modo que el movimiento de la articulación esté restringido y accionar (210) dicho tren de potencia mientras se monitoriza al menos una magnitud, asociada con un par de dicho actuador y al menos una magnitud asociada con la posición del actuador, con el fin de determinar (220) al menos un valor de salida de dicho actuador, correspondiendo dicho valor de salida a, al menos, una posición de la articulación, y determinar (230) la o las propiedades de la articulación en base al o los valores de salida mencionados. La invención además se refiere a un sistema para determinar la o las propiedades de una articulación.
MX2015005051A 2012-10-23 2013-10-21 Método y sistema para la determinación de al menos una propiedad de una articulación. MX343791B (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1251196A SE536708C2 (sv) 2012-10-23 2012-10-23 Metod och system för bestämning av minst en egenskap hos enmanipulator
PCT/SE2013/051224 WO2014065744A1 (en) 2012-10-23 2013-10-21 Method and system for determination of at least one property of a joint

Publications (2)

Publication Number Publication Date
MX2015005051A true MX2015005051A (es) 2015-12-09
MX343791B MX343791B (es) 2016-11-23

Family

ID=49641828

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2015005051A MX343791B (es) 2012-10-23 2013-10-21 Método y sistema para la determinación de al menos una propiedad de una articulación.

Country Status (17)

Country Link
US (1) US9645565B2 (es)
EP (1) EP2911832B1 (es)
JP (1) JP6238421B2 (es)
KR (1) KR102144142B1 (es)
CN (1) CN104736307B (es)
AU (1) AU2013335352B2 (es)
BR (1) BR112015008933B1 (es)
CA (1) CA2887038C (es)
DK (1) DK2911832T3 (es)
ES (1) ES2622304T3 (es)
HU (1) HUE033139T2 (es)
IN (1) IN2015DN03959A (es)
MX (1) MX343791B (es)
PT (1) PT2911832T (es)
RU (1) RU2667938C2 (es)
SE (1) SE536708C2 (es)
WO (1) WO2014065744A1 (es)

Families Citing this family (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10383765B2 (en) 2012-04-24 2019-08-20 Auris Health, Inc. Apparatus and method for a global coordinate system for use in robotic surgery
SE537534C2 (sv) * 2013-08-27 2015-06-02 Cognibotics Ab Metod och system för bestämning av åtminstone en egenskap hos en manipulator
DE102013223603A1 (de) * 2013-11-19 2015-05-21 Ferrobotics Compliant Robot Technology Gmbh Roboterarm
US10499999B2 (en) 2014-10-09 2019-12-10 Auris Health, Inc. Systems and methods for aligning an elongate member with an access site
US11208575B2 (en) 2014-10-27 2021-12-28 Illinois Tool Works Inc. Assembly processes using UV curable pressure sensitive adhesives (PSA) or stageable PSA systems
US10272571B2 (en) * 2014-11-12 2019-04-30 Abb Schweiz Ag Determining a calibration position of a robot joint
WO2016151360A1 (en) * 2015-03-23 2016-09-29 National Research Council Of Canada Multi-jointed robot deviation under load determination
GB201603283D0 (en) * 2016-02-25 2016-04-13 Johnson Electric Sa Method of reducing noise from a HVAC system
EP3436876B1 (en) * 2016-03-29 2021-07-07 Cognibotics AB Method, constraining device and system for determining geometric properties of a manipulator
US11209121B2 (en) 2016-04-26 2021-12-28 The Boeing Company Lifting support device and method of controlling operation
US10182875B2 (en) * 2016-08-16 2019-01-22 Ethicon Llc Robotic visualization and collision avoidance
US10413373B2 (en) 2016-08-16 2019-09-17 Ethicon, Llc Robotic visualization and collision avoidance
KR102558063B1 (ko) 2017-06-28 2023-07-25 아우리스 헬스, 인코포레이티드 전자기장 생성기 정렬
CN110913788B (zh) 2017-06-28 2024-03-12 奥瑞斯健康公司 电磁失真检测
DE102017211549A1 (de) * 2017-07-06 2019-01-10 Kuka Deutschland Gmbh Verfahren zur Verschleißüberwachung eines Getriebes
US11648075B2 (en) 2017-09-05 2023-05-16 Covidien Lp Robotic surgical system control arm including dual encoders
US10464209B2 (en) 2017-10-05 2019-11-05 Auris Health, Inc. Robotic system with indication of boundary for robotic arm
US10016900B1 (en) 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
JP6984348B2 (ja) * 2017-11-27 2021-12-17 トヨタ自動車株式会社 剛性検出装置
WO2019111582A1 (ja) * 2017-12-06 2019-06-13 日本電産株式会社 デバイスｉｄ設定装置及び設定方法
CN108015750A (zh) * 2018-01-15 2018-05-11 上海联影医疗科技有限公司 医用机械臂
WO2019171516A1 (ja) * 2018-03-07 2019-09-12 株式会社Ｆｕｊｉ 垂直多関節ロボットの慣性パラメータ同定システム及び慣性パラメータ同定方法並びに垂直多関節ロボットの制御装置及び制御方法
CN108381542B (zh) * 2018-04-04 2024-05-28 中国科学院自动化研究所 基于混合传动的水下机械臂
CN108716962A (zh) * 2018-05-10 2018-10-30 珞石（山东）智能科技有限公司 机器人末端力传感器零偏和负载参数同步标定方法
WO2020008751A1 (ja) * 2018-07-02 2020-01-09 パナソニックＩｐマネジメント株式会社 ロボット制御方法及びロボット制御装置
JP2022510406A (ja) * 2018-12-06 2022-01-26 コヴィディエン リミテッド パートナーシップ ケーブル駆動エンドエフェクタの制御方法
US11353345B2 (en) * 2019-07-22 2022-06-07 Boston Dynamics, Inc. Magnetic encoder calibration
KR102793424B1 (ko) 2019-09-03 2025-04-14 아우리스 헬스, 인코포레이티드 전자기 왜곡 검출 및 보상
GB2588629B (en) * 2019-10-29 2024-01-03 Cmr Surgical Ltd Robotic joint control
KR102356660B1 (ko) * 2019-11-01 2022-02-07 주식회사 뉴로메카 다자유도 협동 로봇의 마찰 보상 방법
US11772260B2 (en) * 2019-11-22 2023-10-03 Samsung Electronics Co., Ltd. Planetary gear transmission device and robot having the same
CN110928180B (zh) * 2019-12-04 2023-03-28 中国直升机设计研究所 一种作动器的迟滞补偿方法和装置
DE102020205379A1 (de) * 2020-04-28 2021-10-28 Kuka Deutschland Gmbh Verfahren zum Erfassen und Auswerten eines Reibungszustands an einem Gelenk, Roboterarm und Computerprogrammprodukt
RU202008U1 (ru) * 2020-07-03 2021-01-27 Общество с ограниченной ответственностью "Арипикс Роботикс" Шестиосевой робот с пятью вращательными и одной линейной вертикальной осью
GB2596813B (en) * 2020-07-06 2024-09-18 Cmr Surgical Ltd Characterising the performance of a robotic joint
US11959823B2 (en) * 2020-09-23 2024-04-16 Schlumberger Technology Corporation Measuring backlash of a drive train
AT17452U1 (de) * 2021-02-23 2022-04-15 Palfinger Ag Verfahren zur Bestimmung einer Lagerreibung
US11826910B2 (en) * 2021-05-20 2023-11-28 Carnegie Mellon University Direct drive end-effectors with parallel kinematics
US20230046296A1 (en) * 2021-08-16 2023-02-16 Ubtech Robotics Corp Ltd Robot joint configuration determining method, robot using the same and computer readable storage medium
WO2024261090A1 (en) 2023-06-22 2024-12-26 Cognibotics Ab A method and system for determining elastic properties of an industrial robot
CN119458362B (zh) * 2024-12-16 2025-04-18 工禾工业软件(上海)有限公司 一种基于cae动态模拟的工业机器人关节精度提升方法

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS529785A (en) * 1975-07-11 1977-01-25 Koike Sanso Kogyo Co Ltd Accuracy compensation method in spotting servo system
US4598942A (en) * 1984-07-23 1986-07-08 Westinghouse Electric Corp. Force-controlled gripper with adaptive accommodation
JPS62150405A (ja) * 1985-12-23 1987-07-04 Omron Tateisi Electronics Co 産業用ロボツト制御装置
US4943468A (en) * 1988-10-31 1990-07-24 Texas Instruments Incorporated Ceramic based substrate for electronic circuit system modules
JPH053697U (ja) * 1991-06-28 1993-01-19 株式会社椿本チエイン 遊星差動式減速機のバツクラツシユ低減構造
CN2131646Y (zh) * 1992-05-08 1993-05-05 付天章 机床齿轮及丝杠间隙自动补偿装置
JPH06222817A (ja) * 1993-01-27 1994-08-12 Komatsu Ltd ロボットのウィービング制御装置
JP2620488B2 (ja) * 1993-05-13 1997-06-11 株式会社明電舎 マスター・スレーブ形の産業用マニプレータ
WO1995005270A1 (en) * 1993-08-18 1995-02-23 Kabushiki Kaisha Yaskawa Denki Wrist structure for articulated robots
JP3902256B2 (ja) * 1994-09-30 2007-04-04 三菱電機株式会社 位置決め装置
JP2762943B2 (ja) * 1995-01-24 1998-06-11 株式会社明電舎 多軸マスタ・スレーブ形サーボマニプレータのマスタアーム操作装置
US6060854A (en) * 1998-11-12 2000-05-09 Vickers, Inc. Method and apparatus for compensating for windup in a machine
FI114947B (fi) * 2002-09-13 2005-01-31 Metso Automation Oy Menetelmä ja laitteisto prosessissa olevan prosessilaitteen hystereesin määrittämiseksi
JP3868928B2 (ja) * 2003-06-09 2007-01-17 三菱電機株式会社 ロボット位置決め誤差補正装置
JP2006101605A (ja) * 2004-09-29 2006-04-13 Japan Servo Co Ltd 平行軸型歯車減速機付き電動機
WO2009064367A2 (en) * 2007-11-09 2009-05-22 Ermi, Inc. Multi-section limb and ligament evaluation apparatus and associated methods for using same
JP2009198203A (ja) * 2008-02-19 2009-09-03 Yaskawa Electric Corp バックラッシュ量算出方法および直動型ロボット装置
CN100581757C (zh) * 2008-07-28 2010-01-20 哈尔滨工业大学 预紧和传动间隙可调的机器人灵巧手手指基关节传动机构
CN102233585A (zh) * 2010-04-29 2011-11-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件
JP5618198B2 (ja) * 2010-09-24 2014-11-05 株式会社安川電機 ハンド及びロボット
WO2012076038A1 (en) 2010-12-06 2012-06-14 Abb Research Ltd. A method for calibrating a robot unit, a computer unit, a robot unit and use of a robot unit

Also Published As

Publication number Publication date
MX343791B (es) 2016-11-23
AU2013335352A1 (en) 2015-04-16
RU2667938C2 (ru) 2018-09-25
JP2015536249A (ja) 2015-12-21
HK1211538A1 (en) 2016-05-27
EP2911832A1 (en) 2015-09-02
RU2015114788A3 (es) 2018-08-02
US20150248121A1 (en) 2015-09-03
EP2911832B1 (en) 2017-02-08
KR20150086277A (ko) 2015-07-27
DK2911832T3 (en) 2017-05-22
WO2014065744A4 (en) 2014-07-10
SE536708C2 (sv) 2014-06-10
HUE033139T2 (en) 2017-11-28
IN2015DN03959A (es) 2015-10-02
RU2015114788A (ru) 2016-12-20
CN104736307A (zh) 2015-06-24
CA2887038A1 (en) 2014-05-01
ES2622304T3 (es) 2017-07-06
US9645565B2 (en) 2017-05-09
CN104736307B (zh) 2017-03-08
BR112015008933B1 (pt) 2021-02-09
AU2013335352B2 (en) 2016-12-22
PT2911832T (pt) 2017-05-08
BR112015008933A2 (pt) 2017-07-04
CA2887038C (en) 2020-10-20
WO2014065744A1 (en) 2014-05-01
SE1251196A1 (sv) 2014-04-24
KR102144142B1 (ko) 2020-08-12
JP6238421B2 (ja) 2017-11-29

Similar Documents

Publication Publication Date Title
MX343791B (es) Método y sistema para la determinación de al menos una propiedad de una articulación.
WO2012158248A8 (en) Collaborative vehicle control using both human operator and automated controller input
MX2014000669A (es) Metodo para la precarga de una transmision, para medir y probar una transmision, en particular una transmision de embrague que tiene al menos dos subtransmisiones.
AU2016219742A1 (en) Position indicator for valves
BR112013001711A2 (pt) robô humanóide com interface de diálogo natural, método para controlar o robô e o programa correspondente
EP2713160A3 (en) Method and system for evaluating creep damage of high temperature component
WO2016094839A3 (en) Compositions and methods for performing methylation detection assays
WO2012014076A3 (en) Liver organoid, uses thereof and culture method for obtaining them
EP4628559A3 (en) Working fluid for heat cycle, composition for heat cycle system and heat cycle system
EP2574490A3 (en) Drive axle assembly and disengagement system
WO2014205451A3 (en) Compositions and methods for modulation of target nucleic acids
WO2013007565A3 (de) Arbeitsvorrichtung und verfahren
BR112012031844A2 (pt) cepa bacteriana recombinante, processo para aperfeiçoar a utilização de xilose em uma cepa bacteriana recombinante e método para produção de etanol
EP3119627A4 (en) Method for controlling a hybrid driveline in order to optimize torque from a combustion engine arranged at the driveline
WO2014089534A3 (en) Universal method for repairing bone, ligament and tendon
WO2015051868A8 (de) Pigmente basierend auf bismuthverbindungen
WO2012178163A3 (en) Optimal network configuration repair
WO2013004360A3 (de) Stellantrieb mit einer baugruppe zur elektrischen manuellen betätigung eines stellantriebs
ITMO20130174A1 (it) Apparato di controllo dell¿azionamento e metodo di controllo dell¿azionamento
MX2016014272A (es) Pistola de soldadura.
IN2013MU03124A (es)
MX345014B (es) Aparato de protección en caso de fallos para usar con actuadores lineales.
BR112015000887A2 (pt) unidade de luva, e, método de acionar uma unidade de luva instalada na tubulação de produção".
UA114082C2 (xx) Спосіб одержання водорозчинних селеноглікопротеїнів та композиція, що їх містить
FR2985282B1 (fr) Joint filete a faible couple de vissage

Legal Events

Date Code Title Description
FG Grant or registration