EP 3374136 A1 20180919 - METHOD AND COMPUTER PROGRAM FOR CORRECTING ERRORS IN A MANIPULATOR SYSTEM
Title (en)
METHOD AND COMPUTER PROGRAM FOR CORRECTING ERRORS IN A MANIPULATOR SYSTEM
Title (de)
VERFAHREN UND COMPUTERPROGRAMM ZUR KORREKTUR VON FEHLERN EINES MANIPULATORSYSTEMS
Title (fr)
PROCÉDÉ ET PROGRAMME INFORMATIQUE POUR LA CORRECTION D'ERREURS D'UN SYSTÈME DE MANIPULATEUR
Publication
Application
Priority
- DE 102015222168 A 20151111
- EP 2016001859 W 20161109
Abstract (en)
[origin: WO2017080650A1] The invention relates to a method for correcting errors in a manipulator system, wherein the manipulator system comprises at least one manipulator and is controlled by means of at least one manipulator program, wherein the method comprises the following method steps: • providing at least one manipulator program, wherein the manipulator program comprises several operations; • combining at least two of the operations to form at least one operation structure; • defining at least one placement point (AP1, AP2), wherein the at least one placement point (AP1, AP2) forms the start and/or the end of an operation structure (310); • providing at least one reaction structure (320) and assigning the reaction structure (320) to an operation structure (310), wherein the at least one reaction structure (320) contains reaction operations (R1 to Rn), upon the execution of which, the manipulator program controls the manipulator system such that it is passed into a system state which corresponds to a placement point (AP1, AP2); • executing the manipulator program and, if an error occurs, • executing the reaction structure (320) such that the manipulator system is transferred into a system state which corresponds to a placement point (AP1, AP2).
IPC 8 full level
B25J 9/16 (2006.01); G05B 19/042 (2006.01); G05B 19/4067 (2006.01); G05B 23/02 (2006.01); G06F 11/07 (2006.01)
CPC (source: EP KR US)
B25J 9/1653 (2013.01 - US); B25J 9/1674 (2013.01 - EP KR US); B25J 9/1692 (2013.01 - KR); G05B 19/0428 (2013.01 - EP KR US); G05B 19/4067 (2013.01 - EP KR US); G05B 23/0286 (2013.01 - EP KR US); G06F 11/07 (2013.01 - KR); G05B 2219/13001 (2013.01 - EP KR US); G05B 2219/25416 (2013.01 - EP KR US); G05B 2219/39024 (2013.01 - US); G05B 2219/50103 (2013.01 - EP KR US)
Citation (search report)
See references of WO 2017080650A1
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)
DE 102015222168 A1 20170511; DE 102015222168 B4 20240222; CN 108349081 A 20180731; CN 108349081 B 20210803; EP 3374136 A1 20180919; KR 102671535 B1 20240531; KR 20180081775 A 20180717; US 11065766 B2 20210720; US 2018345497 A1 20181206; WO 2017080650 A1 20170518
DOCDB simple family (application)
DE 102015222168 A 20151111; CN 201680066068 A 20161109; EP 16794938 A 20161109; EP 2016001859 W 20161109; KR 20187016165 A 20161109; US 201615775619 A 20161109