EP 3227061 A1 20171011 - METHOD FOR MOTION SIMULATION OF A MANIPULATOR
Title (en)
METHOD FOR MOTION SIMULATION OF A MANIPULATOR
Title (de)
VERFAHREN ZUR BEWEGUNGSSIMULATION EINES MANIPULATORS
Title (fr)
PROCÉDÉ DE SIMULATION DE MOUVEMENT POUR UN MANIPULATEUR
Publication
Application
Priority
- DE 102014118001 A 20141205
- EP 2015078533 W 20151203
Abstract (en)
[origin: WO2016087590A1] The invention relates to a method for motion simulation of a manipulator (1a,b), preferably a NC-controlled manipulator (1a,b), in a processing environment (3a,b), wherein the manipulator (1a,b) is moved in a working operation by a control device (10) and the processing environment (3a,b) is at least partially mapped in a model of the environment, said method comprising the steps of calculating a path planning (12a,b) by the control device (10) from a desired movement of the manipulator (1a,b) starting from an initial position (11a,b) and on the basis of a kinematic model of the manipulator (1a,b), carrying out a kinematic collision test on the basis of the path planning (12a,b), the kinematic model and the model of the environment, and generating a prediction result on the basis of the kinematic collision test. The method is characterized in that the initial position (11a,b) corresponds to the current state of the manipulator. The invention further relates to a corresponding computer program having a program code and to a corresponding system for motion simulation of a manipulator (1a,b).
IPC 8 full level
B25J 9/16 (2006.01)
CPC (source: CN EP RU US)
B25J 9/16 (2013.01 - RU); B25J 9/1666 (2013.01 - US); B25J 9/1671 (2013.01 - CN EP US); B25J 9/1676 (2013.01 - CN EP US); B25J 9/1694 (2013.01 - US); G05B 2219/35308 (2013.01 - CN EP US); G05B 2219/40311 (2013.01 - CN EP US)
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
DOCDB simple family (publication)
WO 2016087590 A1 20160609; CN 107206591 A 20170926; CN 118269089 A 20240702; DE 102014118001 A1 20160609; EP 3227061 A1 20171011; RU 2017123529 A 20190109; RU 2017123529 A3 20190610; RU 2727136 C2 20200720; US 11292130 B2 20220405; US 2018126554 A1 20180510
DOCDB simple family (application)
EP 2015078533 W 20151203; CN 201580075538 A 20151203; CN 202410387364 A 20151203; DE 102014118001 A 20141205; EP 15805157 A 20151203; RU 2017123529 A 20151203; US 201515532825 A 20151203