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WO2008101568A8 - Einrichtung zum steuern eines roboters - Google Patents

Einrichtung zum steuern eines roboters

Info

Publication number
WO2008101568A8
WO2008101568A8 PCT/EP2008/000278 EP2008000278W WO2008101568A8 WO 2008101568 A8 WO2008101568 A8 WO 2008101568A8 EP 2008000278 W EP2008000278 W EP 2008000278W WO 2008101568 A8 WO2008101568 A8 WO 2008101568A8
Authority
WO
WIPO (PCT)
Prior art keywords
robot
signals
robot control
supplied
image recording
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2008/000278
Other languages
English (en)
French (fr)
Other versions
WO2008101568A1 (de
Inventor
Fan Dai
Anke Frohberger
Bjoern Matthias
Joachim Unger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Technology AG
Original Assignee
ABB Technology AG
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 ABB Technology AG filed Critical ABB Technology AG
Priority to EP08701126A priority Critical patent/EP2125300A1/de
Publication of WO2008101568A1 publication Critical patent/WO2008101568A1/de
Publication of WO2008101568A8 publication Critical patent/WO2008101568A8/de
Priority to US12/545,302 priority patent/US20100017032A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39394—Compensate hand position with camera detected deviation, new end effector attitude

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

Die Erfindung betrifft eine Einrichtung zum Steuern eines Roboters (10), mit einer Robotersteuereinheit (17), mit wenigstens einer am Roboter angebrachten digitalen Kamera (12), deren Ausgangssignale einer Bilderfassungseinheit (14) zuführbar sind. Die Ausgangssignale der mit der Kamera (12) verbundenen Bilderfassungseinheit sind einer mit dieser verbundenen Bildverarbeitungseinrichtung (15) zuführbar. Mit einer Koordinatentransformationseinrichtung (16), in der die von der Bildverarbeitungseinheit (15) und der Robotersteuereinheit (17) herkommenden Signale zu Robotersteuersignalen verarbeitet und transformiert werden, sind wieder der Robotersteuereinheit (17) zuführbar.
PCT/EP2008/000278 2007-02-23 2008-01-16 Einrichtung zum steuern eines roboters Ceased WO2008101568A1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP08701126A EP2125300A1 (de) 2007-02-23 2008-01-16 Einrichtung zum steuern eines roboters
US12/545,302 US20100017032A1 (en) 2007-02-23 2009-08-21 Device for controlling a robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007008903A DE102007008903A1 (de) 2007-02-23 2007-02-23 Einrichtung zum Steuern eines Roboters
DE102007008903.3 2007-02-23

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/545,302 Continuation US20100017032A1 (en) 2007-02-23 2009-08-21 Device for controlling a robot

Publications (2)

Publication Number Publication Date
WO2008101568A1 WO2008101568A1 (de) 2008-08-28
WO2008101568A8 true WO2008101568A8 (de) 2008-10-23

Family

ID=39322522

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/000278 Ceased WO2008101568A1 (de) 2007-02-23 2008-01-16 Einrichtung zum steuern eines roboters

Country Status (5)

Country Link
US (1) US20100017032A1 (de)
EP (1) EP2125300A1 (de)
CN (1) CN101616776A (de)
DE (1) DE102007008903A1 (de)
WO (1) WO2008101568A1 (de)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4844453B2 (ja) * 2007-04-09 2011-12-28 株式会社デンソーウェーブ ロボットの教示装置及び教示方法
DE102007060653A1 (de) * 2007-12-15 2009-06-18 Abb Ag Positionsermittlung eines Objektes
NO20100339A1 (no) 2010-03-10 2011-05-23 Seabed Rig As Fremgangsmåte og anordning for å sikre drift av automatisk eller autonomt utstyr
JP5803155B2 (ja) * 2011-03-04 2015-11-04 セイコーエプソン株式会社 ロボット位置検出装置及びロボットシステム
US9675419B2 (en) 2013-08-21 2017-06-13 Brachium, Inc. System and method for automating medical procedures
CN105395295B (zh) * 2015-11-24 2017-05-10 张海钟 一种用于口腔和牙齿治疗的机器人系统
US11154375B2 (en) 2018-02-02 2021-10-26 Brachium, Inc. Medical robotic work station

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07104692B2 (ja) * 1986-10-02 1995-11-13 トヨタ自動車株式会社 予見追跡制御型ロボツト
DE3635076A1 (de) * 1986-10-15 1988-04-28 Messerschmitt Boelkow Blohm Roboteranlage mit beweglichen manipulatoren
US5579444A (en) * 1987-08-28 1996-11-26 Axiom Bildverarbeitungssysteme Gmbh Adaptive vision-based controller
US4907169A (en) * 1987-09-30 1990-03-06 International Technical Associates Adaptive tracking vision and guidance system
US4969108A (en) * 1988-04-08 1990-11-06 Cincinnati Milacron Inc. Vision seam tracking method and apparatus for a manipulator
US4952772A (en) * 1988-11-16 1990-08-28 Westinghouse Electric Corp. Automatic seam tracker and real time error cumulative control system for an industrial robot
JP2779072B2 (ja) * 1991-01-28 1998-07-23 ファナック株式会社 ロボットの教示方法
JP3173042B2 (ja) * 1991-05-21 2001-06-04 ソニー株式会社 ロボットの数値制御装置
DE19814779A1 (de) * 1998-04-02 1999-10-07 Vitronic Dr Ing Stein Bildvera Verfahren und Vorrichtung zum Steuern eines beweglichen Gegenstandes
JP3300682B2 (ja) * 1999-04-08 2002-07-08 ファナック株式会社 画像処理機能を持つロボット装置
EP1172183A3 (de) * 2000-07-13 2006-01-04 Rolf Kleck Vorrichtung und Anordnung zur Ermittlung von korrigierten Bewegungsdaten für einen vorgegebenen Bewegungsablauf einer bewegbaren Einrichtung sowie bewegbare Einrichtung und System aus bewegbaren Einrichtungen
JP2003148914A (ja) * 2001-11-08 2003-05-21 Fanuc Ltd 位置検出装置及び位置検出を利用した取出し装置
JP3994950B2 (ja) * 2003-09-19 2007-10-24 ソニー株式会社 環境認識装置及び方法、経路計画装置及び方法、並びにロボット装置
JP2005108144A (ja) * 2003-10-02 2005-04-21 Fanuc Ltd ロボットの補正データ確認装置
US20070216332A1 (en) * 2003-10-20 2007-09-20 Georg Lambert Method for Effecting the Movement of a Handling Device and Image Processing Device
JP3946711B2 (ja) * 2004-06-02 2007-07-18 ファナック株式会社 ロボットシステム

Also Published As

Publication number Publication date
WO2008101568A1 (de) 2008-08-28
CN101616776A (zh) 2009-12-30
EP2125300A1 (de) 2009-12-02
US20100017032A1 (en) 2010-01-21
DE102007008903A1 (de) 2008-08-28

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