[go: up one dir, main page]

BRPI0811741A2 - Robô e respectivos sistema e método de controle - Google Patents

Robô e respectivos sistema e método de controle

Info

Publication number
BRPI0811741A2
BRPI0811741A2 BRPI0811741-1A2A BRPI0811741A BRPI0811741A2 BR PI0811741 A2 BRPI0811741 A2 BR PI0811741A2 BR PI0811741 A BRPI0811741 A BR PI0811741A BR PI0811741 A2 BRPI0811741 A2 BR PI0811741A2
Authority
BR
Brazil
Prior art keywords
robot
axis
path
individual
coordinates
Prior art date
Application number
BRPI0811741-1A2A
Other languages
English (en)
Inventor
Jens Haecker
Bjoern Schoell
Alexander Meissner
Original Assignee
Duerr Systems Gmbh
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=39767045&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=BRPI0811741(A2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Duerr Systems Gmbh filed Critical Duerr Systems Gmbh
Publication of BRPI0811741A2 publication Critical patent/BRPI0811741A2/pt
Publication of BRPI0811741B1 publication Critical patent/BRPI0811741B1/pt

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
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39181—Compensation of coulomb friction in 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39186—Flexible 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
    • G05B2219/41127—Compensation for temperature variations of servo
    • 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
    • G05B2219/41443—Position reference ffw for compensation of position
    • 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
    • G05B2219/41448—Ffw friction compensation for speed error, derived from position reference

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
BRPI0811741-1A 2007-05-24 2008-05-07 Robô e respectivos sistema e método de controle BRPI0811741B1 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102007024143A DE102007024143A1 (de) 2007-05-24 2007-05-24 Bewegungssteuerung für elastische Roboterstrukturen
DE1020070241439 2007-05-24
PCT/EP2008/003674 WO2008141730A1 (de) 2007-05-24 2008-05-07 Bewegungssteuerung für elastische roboterstrukturen

Publications (2)

Publication Number Publication Date
BRPI0811741A2 true BRPI0811741A2 (pt) 2014-11-11
BRPI0811741B1 BRPI0811741B1 (pt) 2019-09-17

Family

ID=39767045

Family Applications (1)

Application Number Title Priority Date Filing Date
BRPI0811741-1A BRPI0811741B1 (pt) 2007-05-24 2008-05-07 Robô e respectivos sistema e método de controle

Country Status (11)

Country Link
US (1) US8527092B2 (pt)
EP (1) EP2146825B1 (pt)
KR (1) KR101548945B1 (pt)
CN (1) CN101678551B (pt)
AT (1) ATE497865T1 (pt)
BR (1) BRPI0811741B1 (pt)
DE (2) DE102007024143A1 (pt)
ES (1) ES2360912T3 (pt)
MX (1) MX341554B (pt)
RU (1) RU2487796C2 (pt)
WO (1) WO2008141730A1 (pt)

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10093022B2 (en) * 2015-12-18 2018-10-09 General Electric Company Control system and method for brake bleeding
DE102009007026A1 (de) 2009-02-02 2010-08-05 Kuka Roboter Gmbh Steuerung und Steuerungsverfahren für einen Manipulator
DE102010004496B4 (de) 2010-01-12 2020-06-18 Hermann Müller Verfahren zum Betrieb einer Vorrichtung zum Beschichten und/oder Bedrucken eines Werkstückes
FR2960808B1 (fr) * 2010-06-02 2012-05-25 Commissariat Energie Atomique Procede d'identification de frottements dans une articulation de bras de robot ou de bras manipulateur, et procede de compensation de couple faisant application
KR101121474B1 (ko) * 2010-12-01 2012-03-13 대성전기공업 주식회사 Ｄｃ 서보모터 시스템의 관성모멘트와 마찰계수를 구하는 방법
DE102011010505A1 (de) 2011-02-07 2012-08-09 Dürr Systems GmbH Anpassung der Dynamik zumindest eines Roboters
DE102011111758A1 (de) * 2011-08-24 2013-02-28 Dürr Systems GmbH Steuerverfahren für einen Roboter
JP2014034101A (ja) * 2012-08-10 2014-02-24 Toshiba Corp ロボット制御装置
CN104968477B (zh) * 2012-08-28 2017-03-08 睿信科机器人有限公司 监测机器人传感器的一致性
JP5642214B2 (ja) * 2013-02-15 2014-12-17 株式会社神戸製鋼所 多関節ロボットの弾性変形補償制御装置
EP2954986B1 (de) 2014-06-10 2020-05-06 Siemens Aktiengesellschaft Vorrichtung und Verfahren zum Steuern und Regeln eines Mehrkörpersystems
US20160214261A1 (en) * 2015-01-22 2016-07-28 GM Global Technology Operations LLC Collaborative robot system and method
DE102015211405A1 (de) * 2015-06-22 2016-12-22 Kuka Roboter Gmbh Verbesserung der Temperaturdriftkompensation durch Kalibrierung am Bauteil und Einlernen der Parametersätze
DE102015211406A1 (de) * 2015-06-22 2016-12-22 Kuka Roboter Gmbh Verbesserung der Temperaturdriftkompensation durch Einlernen der Restdrift
AT518354B1 (de) * 2016-02-02 2018-06-15 B & R Ind Automation Gmbh Verfahren zum Betreiben einer Fördereinrichtung in Form eines Langstatorlinearmotors
AT518270B1 (de) * 2016-02-05 2017-09-15 Bernecker + Rainer Industrie-Elektronik Ges M B H Verfahren zum Steuern der Bewegung einer Antriebsachse einer Antriebseinheit
CN106003023A (zh) * 2016-05-25 2016-10-12 珠海格力智能装备有限公司 机器人运动控制系统和方法
RU2671787C1 (ru) * 2017-07-10 2018-11-06 Общество с ограниченной ответственностью "Эйдос - Робототехника" Способ повышения точности позиционирования промышленного робота
JP6915470B2 (ja) * 2017-09-21 2021-08-04 株式会社デンソーウェーブ ロボットの制御装置
JP6926882B2 (ja) * 2017-09-21 2021-08-25 株式会社デンソーウェーブ ロボットの制御装置
DE102018209044B3 (de) * 2018-06-07 2019-11-07 Kuka Deutschland Gmbh Kraftregelung eines Roboters
CN109108973B (zh) * 2018-08-29 2021-05-07 广州安商智能科技有限公司 单向式路径调度方法及系统
DE102018128175A1 (de) 2018-11-12 2020-05-14 Technische Universität Darmstadt Verfahren und Vorrichtung zur Ermittlung von Verlagerungen eines Werkzeugmittelpunktes
EP3764536A1 (en) 2019-07-11 2021-01-13 DENTSPLY SIRONA Inc. Method of operating a stepper motor in a dental tool machine
EP4019204A4 (en) * 2019-09-30 2023-05-03 Siemens Ltd., China METHOD, DEVICE AND ROBOT CONTROL SYSTEM, INFORMATION HOLDER AND TERMINAL
KR20230091280A (ko) 2021-12-16 2023-06-23 주식회사 로보테크 통합 좌표계를 생성하는 로봇 제어 시스템 및 로봇 제어 시스템의 통합 좌표계 생성 방법
DE102022205011A1 (de) 2022-05-19 2023-11-23 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Bestimmen eines Moments für einen Betrieb eines Roboters unter Verwendung eines Modells und Verfahren zum Einlernen des Modells
KR20250063584A (ko) 2023-11-01 2025-05-08 한국생산기술연구원 전이학습을 통한 다축 스테이지 성능 추정 시스템 및 그 방법
DE102024108996A1 (de) * 2024-03-28 2025-10-02 Keba Industrial Automation Gmbh Verfahren und Steuervorrichtung zur Optimierung der Ist-Genauigkeit einer Maschine mit mehreren Achsen

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05277976A (ja) * 1992-03-31 1993-10-26 Nippon Telegr & Teleph Corp <Ntt> 動力学モデルパラメータ同定装置
SE509443C2 (sv) * 1997-05-15 1999-01-25 Asea Brown Boveri Förfarande för övervakning av en manipulators rörelsestyrning
SE516720C2 (sv) * 1999-04-01 2002-02-19 Abb Ab Utrustning för styrning av en industrirobot och förfarande för programmering och/eller justering av robotens rörelse
CA2272966C (en) * 1999-05-26 2004-07-20 Camoplast Inc. Twin chopper device for spray-up molding
SE0001312D0 (sv) * 2000-04-10 2000-04-10 Abb Ab Industrirobot
US6519860B1 (en) * 2000-10-19 2003-02-18 Sandia Corporation Position feedback control system
RU2193480C1 (ru) * 2002-01-25 2002-11-27 Дальневосточный государственный технический университет Устройство для управления приводом робота
JP4391218B2 (ja) * 2003-02-20 2009-12-24 三菱電機株式会社 サーボ制御装置
JP4033050B2 (ja) * 2003-06-16 2008-01-16 トヨタ自動車株式会社 ロボットハンドの把持制御装置
DE10342471B4 (de) 2003-09-15 2007-08-16 Dürr Systems GmbH Regeleinrichtung für einen mehrachsigen Roboter
JP2005335010A (ja) 2004-05-26 2005-12-08 Toyota Motor Corp 把持制御装置
DE102004056861A1 (de) * 2004-11-25 2006-06-08 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Regeln, Steuern von Manipulatoren

Also Published As

Publication number Publication date
KR20100023846A (ko) 2010-03-04
RU2009148022A (ru) 2011-06-27
KR101548945B1 (ko) 2015-09-02
DE502008002561D1 (de) 2011-03-24
US20100198405A1 (en) 2010-08-05
CN101678551A (zh) 2010-03-24
RU2487796C2 (ru) 2013-07-20
CN101678551B (zh) 2012-02-22
BRPI0811741B1 (pt) 2019-09-17
MX341554B (es) 2016-08-24
ATE497865T1 (de) 2011-02-15
US8527092B2 (en) 2013-09-03
MX2009012527A (es) 2009-12-03
EP2146825B1 (de) 2011-02-09
EP2146825A1 (de) 2010-01-27
WO2008141730A1 (de) 2008-11-27
ES2360912T3 (es) 2011-06-10
DE102007024143A1 (de) 2008-11-27

Similar Documents

Publication Publication Date Title
BRPI0811741A2 (pt) Robô e respectivos sistema e método de controle
TW200744806A (en) Robot system
EP4292778A4 (en) ROBOT MODEL LEARNING DEVICE, ROBOT MODEL MACHINE LEARNING METHOD, ROBOT MODEL MACHINE LEARNING PROGRAM, ROBOT CONTROL DEVICE, ROBOT CONTROL METHOD AND ROBOT CONTROL PROGRAM
EP3486041A3 (en) Gripping system, learning device, and gripping method
EP4019207A4 (en) PATTERN GENERATION DEVICE, PATTERN GENERATION METHOD, CONTROL DEVICE AND CONTROL METHOD
EP3620273A3 (en) Methods and apparatus for robot control
EP2868442A3 (en) Robot control device and robot
WO2021097166A8 (en) Tactile dexterity and control
WO2007127723A3 (en) Control of robots from human motion descriptors
EP4060446A4 (en) ROBOT CONTROL MODEL LEARNING METHOD, ROBOT CONTROL MODEL LEARNING APPARATUS, ROBOT CONTROL MODEL LEARNING PROGRAM, ROBOT CONTROL METHOD, ROBOT CONTROL APPARATUS, ROBOT CONTROL PROGRAM AND ROBOT
WO2011074838A3 (ko) 로봇 동기화 장치 및 그 방법
WO2017052350A3 (ko) 로봇 제어 방법 및 장치
EP4559617A3 (en) Robotic assembly of transport structures using on-site additive manufacturing
CA2922631C (en) Method and system for determination of at least one property of a manipulator
WO2009102767A3 (en) Method of controlling a robot for small shape generation
EP1814000A3 (en) Controller for electric motor
EP1906283A3 (en) Motion control timing models
WO2009148610A3 (en) Responsive control method and system for a telepresence robot
WO2010141180A3 (en) Supervision and control of heterogeneous autonomous operations
EP2636491A3 (en) Calibration method and calibration system for robot
EP3912767A4 (en) ROBOT CONTROL DEVICE, ROBOT CONTROL METHOD AND ROBOT CONTROL PROGRAM
WO2009090542A3 (fr) Procede pour l&#39;apprentissage d&#39;un robot ou similaire et dispositif pour la mise en oeuvre de ce procede
EP4393654A4 (en) MOTION CONTROL METHOD FOR AN UNDERACTUATED SYSTEM ROBOT AND UNDERACTUATED SYSTEM ROBOT
EP2500149A3 (en) Robot system
EP3878604A4 (en) ROBOT CONTROL DEVICE, SIMULATION METHOD AND SIMULATION PROGRAM

Legal Events

Date Code Title Description
B06F Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]
B06T Formal requirements before examination [chapter 6.20 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 10 (DEZ) ANOS CONTADOS A PARTIR DE 17/09/2019, OBSERVADAS AS CONDICOES LEGAIS. (CO) 10 (DEZ) ANOS CONTADOS A PARTIR DE 17/09/2019, OBSERVADAS AS CONDICOES LEGAIS

B25D Requested change of name of applicant approved

Owner name: DUERR SYSTEMS AG (DE)

B25G Requested change of headquarter approved

Owner name: DUERR SYSTEMS AG (DE)