EP 3484672 A1 20190522 - REDUNDANCY RESOLUTION FOR A REDUNDANT MANIPULATOR
Title (en)
REDUNDANCY RESOLUTION FOR A REDUNDANT MANIPULATOR
Title (de)
REDUNDANZAUFLÖSUNG FÜR EINEN REDUNDANTEN MANIPULATOR
Title (fr)
RÉSOLUTION REDONDANTE POUR MANIPULATEUR REDONDANT
Publication
Application
Priority
- DE 102016212958 A 20160715
- EP 2017000828 W 20170712
Abstract (en)
[origin: WO2018010842A1] The invention relates to a method for controlling a redundant manipulator (10), wherein the manipulator (10) has a plurality of movement axes (A1 - A7) and the method comprises the following steps: determining a primary task for controlling the manipulator (1), wherein the primary task comprises the traveling along a movement path (30) of the manipulator (10); determining at least one secondary task for controlling the manipulator (10), wherein the secondary task comprises the reducing of the effective mass (mu) and/or the effective inertia (Iu); calculating n alternatives of possible axis angles (α1 - α7) of the movement axes (A1 - A7) of the manipulator (10) for performing the primary task, and calculating the axis angular velocities for the n alternatives; and controlling the manipulator (10) while taking into consideration the n alternatives and the secondary task.
IPC 8 full level
B25J 9/16 (2006.01)
CPC (source: EP)
B25J 9/1643 (2013.01); B25J 9/1676 (2013.01); G05B 2219/39086 (2013.01); G05B 2219/40336 (2013.01); G05B 2219/40369 (2013.01)
Citation (examination)
- SICILIANO B ET AL: "A general framework for managing multiple tasks in highly redundant robotic systems", ADVANCED ROBOTICS, 1991. 'ROBOTS IN UNSTRUCTURED ENVIRONMENTS', 91 ICA R., FIFTH INTERNATIONAL CONFERENCE ON PISA, ITALY 19-22 JUNE 1991, IEEE, NEW YORK, NY, USA, 19 June 1991 (1991-06-19), pages 1211, XP032159906, ISBN: 978-0-7803-0078-1, DOI: 10.1109/ICAR.1991.240390
- NAKAMURA Y ET AL: "TASK-PRIORITY BASED REDUNDANCY CONTROL OF ROBOT MANIPULATORS", INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, SAGE SCIENCE PRESS, THOUSAND OAKS, US, vol. 6, no. 2, 21 June 1987 (1987-06-21), pages 3 - 15, XP009021870, ISSN: 0278-3649
- SANDERUD AUDUN RONNING ET AL: "An approach to path planning and real-time redundancy control for human-robot collaboration", 2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, IEEE, 8 July 2014 (2014-07-08), pages 1018 - 1023, XP032628533, DOI: 10.1109/AIM.2014.6878214
- DUBEY RAJIV V ET AL: "Probability-Based Weighting of Performance Criteria for Redundant Manipulators", JOURNAL OF INTELLIGENT, vol. 19, no. 1, 1 May 1997 (1997-05-01), Dordrecht, pages 89 - 103, XP093060211, ISSN: 0921-0296, DOI: 10.1023/A:1007949601160
- KWANG-KYU LEE ET AL: "Redundancy Resolution With Multiple Criteria", INTELLIGENT ROBOTS AND SYSTEMS, 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON, IEEE, PI, 1 October 2006 (2006-10-01), pages 598 - 603, XP031006130, ISBN: 978-1-4244-0258-8
- CLEARY K ET AL: "INCORPORATING MULTIPLE CRITERIA IN THE OPERATION OF REDUNDANT MANIPULATORS", PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION. CINCINNATI, MAY 13 - 18, 1990; [PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION], LOS ALAMITOS, IEEE COMP. SOC. PRESS, US, vol. -, 13 May 1990 (1990-05-13), pages 618 - 624, XP000139910, ISBN: 978-0-8186-9061-7, DOI: 10.1109/ROBOT.1990.126051
- See also references of WO 2018010842A1
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 102016212958 A1 20180118; EP 3484672 A1 20190522; WO 2018010842 A1 20180118
DOCDB simple family (application)
DE 102016212958 A 20160715; EP 17740292 A 20170712; EP 2017000828 W 20170712