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Method, apparatus and system for determining a trajectory of a robot's end effector

A technology of end effectors and motion trajectories, applied in the field of robotics, can solve problems such as not fundamentally solving potential losses

Active Publication Date: 2019-12-31
SIEMENS AG
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Problems solved by technology

these responses do not fundamentally address potential damage due to collisions

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  • Method, apparatus and system for determining a trajectory of a robot's end effector
  • Method, apparatus and system for determining a trajectory of a robot's end effector
  • Method, apparatus and system for determining a trajectory of a robot's end effector

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[0060] The subject matter described herein will now be discussed with reference to example implementations. It should be understood that the discussion of these implementations is only to enable those skilled in the art to better understand and realize the subject matter described herein, and is not intended to limit the protection scope, applicability or examples set forth in the claims. Changes may be made in the function and arrangement of elements discussed without departing from the scope of the disclosure. Various examples may omit, substitute, or add various procedures or components as needed. For example, the methods described may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with respect to some examples may also be combined in other examples.

[0061] As used herein, the term "comprising" and its variants represent open terms meaning "including but not limited to". The ...

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Abstract

The subject matter relates to a method for determining a trajectory of a robot's end effector, comprising: obtaining a collision force of a robot's end effector caused by a collision of the end effector when the collision is detected; and determining a second trajectory of the end effector based on the obtained collision force of the end effector and a recorded first trajectory of the end effector, wherein the trajectory has trajectory information including a position vector, a velocity vector, and an acceleration vector of each trajectory point, and wherein the first trajectory is a trajectory before the collision, and the second trajectory is a trajectory after the collision. With the method, an efficient protection for the robot and its working environment at the moment of collision maybe achieved.

Description

technical field [0001] The present application generally relates to the field of robotics, and more specifically, to a method, device and system for determining a motion trajectory of an end effector of a robot. Background technique [0002] With the development of robot technology, more and more industries have introduced industrial robots, such as six-axis industrial robots. In the field of industrial robots, in order to achieve high work efficiency, the moving speed of the robot is usually relatively fast, and collisions between the robot and its working environment (such as other robots, operators, objects, and processed workpieces) are easy to occur. In the event of a collision, such as between robots or between a robot and a processing object (e.g., a processed workpiece), damage to the robot or damage to the processing object may result. An efficient robot collision handling scheme will protect the robot and its working environment to the greatest extent, thereby red...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666G05B19/4061G05B2219/49147G05B2219/50108G05B2219/50109B25J9/1676B25J9/1653
Inventor 徐文康吴剑强卓越
Owner SIEMENS AG
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