2484 results about "Industrial robotics" patented technology

A robot or manipulator including a wireless power supply and a wireless communication device. One or more actuators on the robot tool may be wirelessly powered and wirelessly controlled. The robot tool may have one or more wireless communication members for transmission of data from sensors on the tool. The power supply includes a primary power supply member and secondary power supply member. Tool changes may be carried out automatically by the robot. In other aspects of the invention a method, a control system and a computer program for carrying out the method are described.

A system, method, and computer readable medium. A method for robotic path planning includes receiving a robotic path for a robot and associating a plurality of zones with each location in the robotic path. The method also includes selecting for each location one of the zones associated with the location and simulating motion of the robot over the robotic path using the locations and selected zones. The method further includes determining whether a collision occurred in the simulated motion of the robot. The method still further includes, if there was a collision, identifying a location associated with the collision, selecting a new zone for the identified location other than the currently selected zone, and repeating the steps of simulating motion of the robot and determining whether a collision occurred. The method also includes, if there wasn't a collision, assigning to each location its currently selected zone.

Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.

Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.

An industrial robot comprising a manipulator (3), a control unit (2) having means for automatically operating the manipulator, and a portable operating unit (1) having means for manually operating the manipulator. The robot further comprises a movable key device (10) carrying information about the identity of the robot and said portable operating unit (1) comprising a member (8) for receiving said movable key device and means for reading the robot identity from the key device.

The invention discloses an error-controllable industrial robot fairing movement track generation method which comprises the following steps: S1, generating an MOVEB movement instruction, describing an industrial robot movement track which comprises a track point and posture, a track point error threshold input by a user, and a chord height error threshold; S2, performing interpolation on a robot track point, namely performing interpolation on a high-order B sample curve into the track point according to the track point error and the chord height error threshold by using the high-order B sample interpolation algorithm, and respectively achieving G2 interpolation and G3 interpolation of the robot track point, so as to obtain an interpolation track which has high continuity and meets the track point error and chord height error requirements; S3, performing interpolation on the posture of the robot so as to obtain a robot posture curve with sectional G2 and continuous G3; S4, acquiring a movement track of the robot after interpolation according to the track point interpolation curve and the robot posture curve. By adopting the error-controllable industrial robot fairing movement track generation method, real-time continuous interpolation of the movement track can be achieved, calculation can be simple, efficient and precise, and vibration and abrasion of the robot can be reduced.

The invention provides a shaft hole assembly industrial robot system which comprises an industrial robot, a shaft hole assembly platform, a force sense sensor, a clamping device, an assembly workpiece, an assembly hole and an assembly shaft. The shaft hole assembly industrial robot system can accurately control contact force and has the obvious advantages for assembly operation with the strict requirements for the small shaft hole interval, high accuracy and shaft hole contact force, the situation that assembly operation fails and even the assembly workpiece is damaged due to the fact that position control accuracy and contact force are not controllable in a position control mode is avoided, the problems of low efficiency and quality and the like caused by manual assembly in certain high-accuracy assembly operation are solved, and the application fields of the shaft hole assembly industrial robot are expanded.

The invention relates to an off-line programming method for grinding and polishing industrial robots based on the three-dimensional graphics of workpieces. Through the workpiece calibration module, the homogeneous transformation matrix W of the spatial position and orientation of the workpiece coordinate system OW in the robot base coordinate system OBase is obtained through calibration; through the three-dimensional workpiece The graphics processing module discretizes the grinding and polishing path into several spatial points, outputs the three-dimensional coordinate information of each spatial point, and calculates several spatial pose homogeneous transformation matrices defined in the workpiece coordinate system OW on the grinding and polishing path of the workpiece surface R; through the tool calibration module, establish the tool end coordinate system OT at the contact position between the robot tool end and the workpiece, and calibrate to obtain the space pose homogeneous transformation matrix T of the tool end coordinate system OT in the robot base coordinate system OBase, to realize The robot is programmed offline. The invention has the beneficial effect of simplifying the off-line programming process of the grinding and polishing industrial robot without relying on off-line programming software of the robot.

The invention discloses a weak-texture workpiece, and a method and a system for recognizing and detecting the three-dimensional pose. After a color image of a target workpiece acquired by an RGB-D sensor and a gradient pattern template library are subjected to image pyramid search based on a similarity evaluation function, a three-dimensional point cloud is built on a depth image according to a matching result, and finally, through filtering and iterative closest point computation on the three-dimensional point cloud, the precise three-dimensional pose of the target workpiece is obtained. An industrial robot can accurately and intelligently recognize the weak-texture workpiece and acquire the three-dimensional pose information, and tasks such as grinding and assembling on the workpiece can be completed.

The invention discloses an error-controllable short line segment trajectory smoothing method which comprises the following steps of 1, pretreating robot trajectory points: traversing all trajectory points of a whole trajectory, segmenting according to the distances and the inclined angles between the trajectory points, and dividing the whole trajectory into a plurality of broken line segment sets;and 2, smoothing the trajectory points: traversing the broken line segment sets generated in the step 1, and calculating the smoothing trajectory of each broken line segment according to a trajectorypoint error threshold value, a chord height error threshold value, a continuity requirement and a smoothing requirement. According to the method, the short line segment trajectory is smoothed to generate a smoothed trajectory meeting the continuity requirement, the shape-preserving requirement and the error requirement, so that the working efficiency and the working quality in application of a numerical control machining robot or an industrial robot are improved; a smoothing curve is applied to requirements for different continuity and executing efficiency; and compared with a conventional transition method, the smoothing curve can control the errors of the trajectory points, and achieves the interpolation effect, thereby retaining the characteristics of the trajectory points.

Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.

The invention refers to a method for in-line calibration of an industrial robot (1). The robot (1) comprises a fixed base section (2) and a multi chain link robot arm (3). The chain links (4) are interconnected and connected to the base section (2) of the robot (1), respectively, by means of articulated joints (5). An end effector (6) of the robot arm (3) can be moved in respect to the base section (2) within a three-dimensional workspace into any desired location. The idea is to move the end effector (6) into a predefined calibration location and to determine characteristic parameters of the robot (1) for that location. The characteristic parameters are compared to previously acquired values of the corresponding parameters for that calibration location. The differences between the characteristic parameters of the current location and the previously acquired parameters are used for correcting the kinematic model of the robot (1) and during normal operation of the robot (1) to enhance the accuracy of movement of the distal end (6). The end effector (6) is moved exactly into the calibration location by means of an iterative closed loop control process, in which light sources (7) fixedly connected to the end effector (6) emit light rays which impact on at least one optical position sensor (12) fixedly positioned in respect to the robot base (2). The end effector (6) is moved such that the actual ray positions (20) on the sensors (12) are moved to a predefined position (20') corresponding to the predefined calibration location by means of the iterative process.

The invention provides a full-pose-and-position active-passive compliant robot and a valve screwing-twisting method utilizing the robot, and relates to a robot and a valve screwing-twisting method utilizing the robot. The full-pose-and-position active-passive compliant robot and the valve screwing-twisting method utilizing the robot aim to solve the problems that an industrial robot cannot conductlarge overall motion, and the operating range is narrow; rigid collision and radial contact force are generated between an end actuator and a valve handwheel; damage of operating devices is possiblycaused due to the fact that screwing-twisting resistance torques of different valves are different; and the valve handwheel can produce axial displacement while rotating, and axial contact force of the tail end is brought. The full-pose-and-position active-passive compliant robot comprises a wheel type moving platform, a four-degree-of-freedom manipulator and a compliant end actuator, the four-degree-of-freedom manipulator is mounted on the wheel type moving platform, and a six-axis force sensor is mounted between the four-degree-of-freedom manipulator and the wheel type moving platform; the compliant end actuator is mounted at the tail end of the four-degree-of-freedom manipulator, and a six-axis force sensor is mounted between the compliant end actuator and the four-degree-of-freedom manipulator; and through information of the two sensors, impedance control can be conducted on the wheel type moving platform and the four-degree-of-freedom manipulator. The full-pose-and-position active-passive compliant robot and the valve screwing-twisting method utilizing the robot are suitable for robot remote operation, robot compliant control and valve screwing-twisting operation.

The invention discloses a method and a device for mounting aircraft system components based on an industrial robot. The method uses the industrial robot to automatically grip and replace system component templates through a tool quickly-replacing device, and automatically positions a system component mounting template according to a work path and a target pose calibrated by a laser tracker, so as to achieve auxiliary assembly work task such as gripping and positioning the system components, and the like during aircraft assembly. The device for mounting the aircraft system components comprises the industrial robot, the tool quickly-replacing device, a system component library, and the system component templates. The mobile industrial robot faces to an aircraft body at zero position, and the system component library is positioned at the back of the robot. A plurality of compartments are arranged in the system component library, and the system component templates are hung in the compartments according to codes. The system components are connected with the tool quickly-replacing device through quickly connected interfaces. The tool quickly-replacing device consists of a robot end and a tool end, and finishes automatic gripping of the system component templates through connection and separation of the robot end and the tool end in pneumatic control.

The invention discloses a robot calibration method based on exponent product model, comprising the following steps: providing an industrial robot, a measuring instrument independent of the robot, an end three-dimensional imaging device and a three-dimensional calibration block; building a robot kinematics model according to the mode of combination of spinor theory and exponent product; giving closed-form solution of all joint parameters; directly solving the joint spinor parameters by utilizing a linear method; compensating the nominal value of joint angle of the robot, thus avoiding the conversion of a coordinate system and a measuring coordinate system of the robot. In addition, the calibration process is simple, and calibration can be realized through the method that all joints rotate once and the coordinate values of n numbered mark points (n is more than or equal to 3) are measured simultaneously. The robot calibration method in the invention is realized simply, has good stability, and low introduced external error.

The invention discloses a large-component three-dimensional measurement method based on line structured light and an industrial robot, and the method consists of two parts: three-dimensional data acquisition of single measurement and three-dimensional data splicing between multiple measurements. According to the invention, the line structured light three-dimensional measurement technology and therobot hand-eye calibration technology are combined, the line structured light three-dimensional measurement system is used for obtaining three-dimensional data of single measurement, and robot hand-eye calibration realizes three-dimensional data splicing among multiple measurements. According to the method for calibrating the monocular line structured light plane under the assistance of the binocular camera, the line calibration process is simplified, and the line reconstruction precision is improved; a spatial circle fitting method is adopted to fit the sphere center coordinates of the standard sphere, so that the light plane can be any plane equation, the application range of the standard sphere hand-eye calibration method is expanded, and the measurement method can accurately reconstruct a target three-dimensional point cloud model.

The invention relates to a method for calibrating the geometrical parameter error of an industrial robot based on a two-step method. A calibration coordinate system is established and comprises a measuring coordinate system and a constraint coordinate system, an error model is established according to the interconversion relationship between a robot connecting rod coordinate system and the calibration coordinate system, and thus the preliminary calibration result of a conversion matrix between the robot connecting rod coordinate system and the calibration coordinate system is obtained; and then the preliminary calibration result is utilized to establish an error correction model including the robot connecting rod geometrical parameter error and the conversion matrix error between the robotconnecting rod coordinate system and the calibration coordinate system according to a differential perturbation method, the corrected robot geometrical parameter error is obtained, and the calibration method is simple and precise.