DK3538328T5 - System og fremgangsmåde til instruktion af en robot - Google Patents
System og fremgangsmåde til instruktion af en robot Download PDFInfo
- Publication number
- DK3538328T5 DK3538328T5 DK17800780.3T DK17800780T DK3538328T5 DK 3538328 T5 DK3538328 T5 DK 3538328T5 DK 17800780 T DK17800780 T DK 17800780T DK 3538328 T5 DK3538328 T5 DK 3538328T5
- Authority
- DK
- Denmark
- Prior art keywords
- instructing
- robot
- procedure
- Prior art date
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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
- B25J13/025—Hand grip control means comprising haptic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- 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
- G05B2219/40144—Force sensation feedback from slave
-
- 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
- G05B2219/40182—Master has different configuration than slave 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
- G05B2219/40184—Compliant teleoperation, operator controls motion, system controls contact, force
-
- 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
- G05B2219/40194—Force reflective, impedance shaping tele operation
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP16198208 | 2016-11-10 | ||
| PCT/EP2017/078558 WO2018087123A2 (en) | 2016-11-10 | 2017-11-08 | System and method for instructing a robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| DK3538328T3 DK3538328T3 (da) | 2020-09-07 |
| DK3538328T5 true DK3538328T5 (da) | 2020-09-28 |
Family
ID=57288196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DK17800780.3T DK3538328T5 (da) | 2016-11-10 | 2017-11-08 | System og fremgangsmåde til instruktion af en robot |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US11305431B2 (da) |
| EP (1) | EP3538328B1 (da) |
| KR (1) | KR102353178B1 (da) |
| CN (1) | CN110035871B (da) |
| DK (1) | DK3538328T5 (da) |
| WO (1) | WO2018087123A2 (da) |
Families Citing this family (42)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20180044946A (ko) * | 2015-08-25 | 2018-05-03 | 카와사키 주코교 카부시키 카이샤 | 복수의 로봇시스템간의 정보공유시스템 및 정보공유방법 |
| JP6706489B2 (ja) * | 2015-11-24 | 2020-06-10 | 川崎重工業株式会社 | ロボットのダイレクト教示方法 |
| JP6959762B2 (ja) * | 2017-05-19 | 2021-11-05 | 川崎重工業株式会社 | 遠隔操作ロボットシステム |
| JP6960242B2 (ja) * | 2017-05-19 | 2021-11-05 | 川崎重工業株式会社 | ロボットシステム及びロボットシステムの制御方法 |
| US11103994B2 (en) * | 2018-07-02 | 2021-08-31 | Teradyne, Inc. | System and method for natural tasking of one or more robots |
| CN109333497B (zh) * | 2018-11-30 | 2021-11-19 | 西华大学 | 一种带虚拟约束力的遥操作系统控制方法 |
| US12011834B2 (en) * | 2018-12-21 | 2024-06-18 | Kawasaki Jukogyo Kabushiki Kaisha | Robot system and method of controlling the robot system |
| US11762369B2 (en) * | 2019-02-06 | 2023-09-19 | Sensory Robotics, Inc. | Robotic control via a virtual world simulation |
| DE102019117217B3 (de) * | 2019-06-26 | 2020-08-20 | Franka Emika Gmbh | Verfahren zum Vorgeben eines Eingabewerts an einem Robotermanipulator |
| US11420331B2 (en) * | 2019-07-03 | 2022-08-23 | Honda Motor Co., Ltd. | Motion retargeting control for human-robot interaction |
| CN110757454B (zh) * | 2019-10-12 | 2022-08-16 | 广州中国科学院先进技术研究所 | 一种双机器人协同旋转的路径规划方法和装置 |
| CN112894794B (zh) * | 2019-11-19 | 2022-08-05 | 深圳市优必选科技股份有限公司 | 人体手臂动作模仿方法、装置、终端设备及存储介质 |
| CN111136633B (zh) * | 2020-01-13 | 2021-04-09 | 燕山大学 | 针对时变时延下柔性主-从机器人系统的全状态控制方法 |
| DE102020111179B3 (de) * | 2020-04-24 | 2021-08-12 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zur Steuerung eines Roboters sowie System |
| US11518042B2 (en) * | 2020-05-09 | 2022-12-06 | Ubtech Robotics Corp Ltd | Robotic assistant |
| US11305424B2 (en) * | 2020-05-22 | 2022-04-19 | Honda Motor Co., Ltd. | Generalized admittance control for robotic manipulators |
| US12269173B2 (en) * | 2020-05-25 | 2025-04-08 | Fanuc Corporation | Robot system |
| US11548150B2 (en) * | 2020-05-29 | 2023-01-10 | Mitsubishi Electric Research Laboratories, Inc. | Apparatus and method for planning contact-interaction trajectories |
| DE102020121561B3 (de) | 2020-08-17 | 2021-11-25 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Steuerungsverfahren für ein bilaterales Teleoperationssystem, Controller, Teleoperationssystem und Verwendung des Controllers und/oder des Teleoperationssystems |
| CN112207801B (zh) * | 2020-08-27 | 2022-04-26 | 深拓科技（深圳）有限公司 | 一种机器人的操控装置、操控系统及操控方法 |
| US20220111518A1 (en) * | 2020-10-13 | 2022-04-14 | Autodesk, Inc. | Techniques for robot control based on generated robot simulations |
| US20240033911A1 (en) * | 2020-12-28 | 2024-02-01 | Sony Group Corporation | Control system and control method |
| CN112947439B (zh) * | 2021-02-05 | 2024-07-23 | 深圳市优必选科技股份有限公司 | 位置调整方法、装置、终端设备及可读存储介质 |
| DE102022107130B4 (de) | 2021-03-26 | 2023-02-23 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zur Stabilisierung eines haptischen Teleoperationssystems mit benutzerdefiniertem Haptik-Feedback-Regler |
| US20220371186A1 (en) * | 2021-05-19 | 2022-11-24 | Guangzhou Institute of advanced technology | Dual-robot position/force multivariate-data-driven method using reinforcement learning |
| WO2022265931A1 (en) | 2021-06-16 | 2022-12-22 | Dexterity, Inc. | Simulated box placement for algorithm evaluation and refinement |
| EP4355672A4 (en) | 2021-06-16 | 2025-05-14 | Dexterity, Inc. | WORKFLOW FOR USING A TREE SEARCH-BASED APPROACH TO PLACING BOXES ON A PALLET WITH LIMITED KNOWLEDGE OF A FUTURE SEQUENCE |
| WO2022265929A1 (en) | 2021-06-16 | 2022-12-22 | Dexterity, Inc. | State estimation using geometric data and vision system for palletizing |
| US20230047860A1 (en) * | 2021-08-13 | 2023-02-16 | Board Of Regents Of The University Of Nebraska | Systems, methods, and media for fault localization in declarative specification languages |
| IT202100024899A1 (it) * | 2021-09-29 | 2023-03-29 | Gaiotto Automation S P A | Metodo per il controllo in autoapprendimento di un sistema robotizzato chiuso e relativo impianto di lavorazione |
| JP7722891B2 (ja) * | 2021-10-05 | 2025-08-13 | 川崎重工業株式会社 | 制御装置、ロボットシステム、ロボット制御方法及びロボット制御プログラム |
| WO2023061552A1 (en) | 2021-10-11 | 2023-04-20 | Abb Schweiz Ag | A responsive teach interface for programming an industrial robot |
| CN114179080B (zh) * | 2021-12-01 | 2024-12-17 | 上海瑾盛通信科技有限公司 | 运动控制方法、装置、机械臂、交互系统及存储介质 |
| CN114237054B (zh) * | 2021-12-18 | 2024-08-09 | 福州大学 | 空中机器人的6d交互控制方法 |
| CN116038685A (zh) * | 2022-09-09 | 2023-05-02 | 深圳市越疆科技有限公司 | 遥操作系统、遥操作方法以及机械臂 |
| CN115625711B (zh) * | 2022-11-08 | 2024-04-30 | 沈阳工业大学 | 一种考虑末端力的双臂机器人协同控制方法 |
| CN116968016B (zh) * | 2022-11-16 | 2024-08-06 | 重庆大学 | 液压臂末端速度可行空间的构建方法及可视化交互系统 |
| CN116214510B (zh) * | 2023-02-09 | 2025-11-07 | 杭州灵西机器人智能科技有限公司 | 一种机械臂导纳控制方法和系统 |
| CN116079733A (zh) * | 2023-02-10 | 2023-05-09 | 上海电气集团股份有限公司 | 主从机器人力反馈的控制方法、系统、设备和介质 |
| CN116141329B (zh) * | 2023-03-06 | 2025-08-08 | 北京理工大学 | 一种基于自校正控制的空间闭环双臂机器人运动控制方法 |
| US20240424663A1 (en) * | 2023-06-26 | 2024-12-26 | Honda Motor Co., Ltd. | Robot-mediated physical human-human interaction |
| CN119338981B (zh) * | 2024-09-14 | 2025-10-31 | 同济大学 | 一种基于仿人机器人具身感知的物体三维信息重构方法 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6424885B1 (en) * | 1999-04-07 | 2002-07-23 | Intuitive Surgical, Inc. | Camera referenced control in a minimally invasive surgical apparatus |
| US8004229B2 (en) | 2005-05-19 | 2011-08-23 | Intuitive Surgical Operations, Inc. | Software center and highly configurable robotic systems for surgery and other uses |
| WO2008038184A2 (en) * | 2006-09-25 | 2008-04-03 | Koninklijke Philips Electronics N.V. | Haptic feedback medical scanning methods and systems |
| ES2804681T3 (es) * | 2013-02-04 | 2021-02-09 | Childrens Nat Medical Ct | Sistema robótico quirúrgico de control híbrido |
| KR102306959B1 (ko) * | 2013-09-04 | 2021-10-01 | 삼성전자주식회사 | 수술 로봇 및 수술 로봇 제어 방법 |
| JP6201126B2 (ja) * | 2013-11-07 | 2017-09-27 | 株式会社人機一体 | マスタスレーブシステム |
-
2017
- 2017-11-08 DK DK17800780.3T patent/DK3538328T5/da active
- 2017-11-08 KR KR1020197014701A patent/KR102353178B1/ko active Active
- 2017-11-08 WO PCT/EP2017/078558 patent/WO2018087123A2/en not_active Ceased
- 2017-11-08 US US16/348,137 patent/US11305431B2/en active Active
- 2017-11-08 CN CN201780074062.9A patent/CN110035871B/zh active Active
- 2017-11-08 EP EP17800780.3A patent/EP3538328B1/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| EP3538328B1 (en) | 2020-06-10 |
| KR20190075098A (ko) | 2019-06-28 |
| DK3538328T3 (da) | 2020-09-07 |
| EP3538328A2 (en) | 2019-09-18 |
| US11305431B2 (en) | 2022-04-19 |
| CN110035871A (zh) | 2019-07-19 |
| US20190358817A1 (en) | 2019-11-28 |
| WO2018087123A2 (en) | 2018-05-17 |
| KR102353178B1 (ko) | 2022-01-20 |
| WO2018087123A3 (en) | 2018-08-09 |
| CN110035871B (zh) | 2022-09-23 |
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