DE69515464T2 - Verfahren zur planung/steuerung von roboterbewegungen - Google Patents

Verfahren zur planung/steuerung von roboterbewegungen

Info

Publication number
DE69515464T2
DE69515464T2 DE69515464T DE69515464T DE69515464T2 DE 69515464 T2 DE69515464 T2 DE 69515464T2 DE 69515464 T DE69515464 T DE 69515464T DE 69515464 T DE69515464 T DE 69515464T DE 69515464 T2 DE69515464 T2 DE 69515464T2
Authority
DE
Germany
Prior art keywords
planning
controlling robot
robot movements
movements
controlling
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.)
Expired - Lifetime
Application number
DE69515464T
Other languages
English (en)
Other versions
DE69515464D1 (de
Inventor
Alan Bourne
Sivarama Krishnan
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.)
Amada Co Ltd
AMADA Ltd US
US Amada Ltd
Original Assignee
Amada Co Ltd
AMADA Ltd US
US Amada Ltd
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 Amada Co Ltd, AMADA Ltd US, US Amada Ltd filed Critical Amada Co Ltd
Application granted granted Critical
Publication of DE69515464D1 publication Critical patent/DE69515464D1/de
Publication of DE69515464T2 publication Critical patent/DE69515464T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • G05B2219/40421—Motion planning for manipulator handling sheet metal profiles
    • 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
    • G05B2219/40444—Hierarchical planning, in levels
    • 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
    • G05B2219/40445—Decompose n-dimension with n-links into smaller m-dimension with m-1-links
    • 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
    • G05B2219/40446—Graph based
    • 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
    • G05B2219/40458—Grid adaptive optimization
    • 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
    • G05B2219/40463—Shortest distance in time, or metric, time optimal
    • 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
    • G05B2219/40476—Collision, planning for collision free path
    • 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
    • G05B2219/40488—Coarse and fine motion planning combined
    • 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
    • G05B2219/40497—Collision monitor controls planner in real time to replan if collision
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45143—Press-brake, bending machine
DE69515464T 1994-11-09 1995-11-09 Verfahren zur planung/steuerung von roboterbewegungen Expired - Lifetime DE69515464T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US08/338,115 US5835684A (en) 1994-11-09 1994-11-09 Method for planning/controlling robot motion
PCT/JP1995/002290 WO1996014967A1 (en) 1994-11-09 1995-11-09 Method for planning/controlling robot motion

Publications (2)

Publication Number Publication Date
DE69515464D1 DE69515464D1 (de) 2000-04-13
DE69515464T2 true DE69515464T2 (de) 2000-07-06

Family

ID=23323475

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69515464T Expired - Lifetime DE69515464T2 (de) 1994-11-09 1995-11-09 Verfahren zur planung/steuerung von roboterbewegungen

Country Status (5)

Country Link
US (3) US5835684A (de)
EP (2) EP0945227A3 (de)
JP (1) JPH09509513A (de)
DE (1) DE69515464T2 (de)
WO (1) WO1996014967A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008058298B4 (de) * 2008-04-29 2016-01-14 Siemens Aktiengesellschaft Verfahren zur rechnergestützten Bewegungsplanung eines Roboters

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US5835684A (en) 1998-11-10
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US6493607B1 (en) 2002-12-10
US5889926A (en) 1999-03-30
DE69515464D1 (de) 2000-04-13
EP0738199B1 (de) 2000-03-08
EP0945227A2 (de) 1999-09-29
JPH09509513A (ja) 1997-09-22
EP0945227A3 (de) 2000-06-07

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