DE69940394D1 - Arbeitshilfsvorrichtung - Google Patents

Arbeitshilfsvorrichtung

Info

Publication number
DE69940394D1
DE69940394D1 DE69940394T DE69940394T DE69940394D1 DE 69940394 D1 DE69940394 D1 DE 69940394D1 DE 69940394 T DE69940394 T DE 69940394T DE 69940394 T DE69940394 T DE 69940394T DE 69940394 D1 DE69940394 D1 DE 69940394D1
Authority
DE
Germany
Prior art keywords
auxiliary device
work auxiliary
work
auxiliary
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE69940394T
Other languages
English (en)
Inventor
Hitoshi Konosu
Yamada Yoji
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Application granted granted Critical
Publication of DE69940394D1 publication Critical patent/DE69940394D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36429—Power assisted positioning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40119—Virtual internal model, derive from forces on object, motion of end effector
DE69940394T 1998-09-17 1999-09-16 Arbeitshilfsvorrichtung Expired - Lifetime DE69940394D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP26334898A JP3504507B2 (ja) 1998-09-17 1998-09-17 適切反力付与型作業補助装置

Publications (1)

Publication Number Publication Date
DE69940394D1 true DE69940394D1 (de) 2009-03-26

Family

ID=17388232

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69940394T Expired - Lifetime DE69940394D1 (de) 1998-09-17 1999-09-16 Arbeitshilfsvorrichtung

Country Status (4)

Country Link
US (1) US6394731B1 (de)
EP (1) EP0997426B1 (de)
JP (1) JP3504507B2 (de)
DE (1) DE69940394D1 (de)

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DE29919136U1 (de) * 1999-10-30 2001-03-08 Muennekehoff Gerd System zum Steuern der Bewegungen einer Lasthebevorrichtung
WO2003095352A1 (en) * 2002-05-08 2003-11-20 The Stanley Works Methods and apparatus for manipulation of heavy payloads with intelligent assist devices
WO2004031066A1 (en) * 2002-09-30 2004-04-15 The Stanley Works Methods and apparatus for eliminating instability in intelligent assist devices
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JP4508263B2 (ja) * 2008-04-24 2010-07-21 トヨタ自動車株式会社 パワーアシスト装置およびその制御方法
US8401702B2 (en) * 2008-06-06 2013-03-19 Panasonic Corporation Robot, and control apparatus, control method, and control program for robot
US20110208558A1 (en) * 2008-11-05 2011-08-25 Honda Motor Co., Ltd. Method for smoothing workload and support system for smoothing workload
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US9314921B2 (en) 2011-03-17 2016-04-19 Sarcos Lc Robotic lift device with human interface operation
JP5129415B2 (ja) 2011-03-17 2013-01-30 パナソニック株式会社 ロボット、ロボットの制御装置、制御方法、及び制御プログラム
US8942846B2 (en) 2011-04-29 2015-01-27 Raytheon Company System and method for controlling a teleoperated robotic agile lift system
US8977388B2 (en) 2011-04-29 2015-03-10 Sarcos Lc Platform perturbation compensation
US8977398B2 (en) 2011-04-29 2015-03-10 Sarcos Lc Multi-degree of freedom torso support for a robotic agile lift system
US9789603B2 (en) 2011-04-29 2017-10-17 Sarcos Lc Teleoperated robotic system
CN102554912B (zh) * 2011-12-28 2015-09-30 长城汽车股份有限公司 夹取缸体用气动平衡助力机械手
US9308645B2 (en) * 2012-03-21 2016-04-12 GM Global Technology Operations LLC Method of inferring intentions of an operator to move a robotic system
US9616580B2 (en) 2012-05-14 2017-04-11 Sarcos Lc End effector for a robotic arm
WO2014037999A1 (ja) * 2012-09-04 2014-03-13 株式会社安川電機 ロボットの制御パラメータ調整方法、ロボットシステム、及びロボット制御装置
WO2014129110A1 (ja) * 2013-02-25 2014-08-28 パナソニック株式会社 ロボット、ロボットの制御装置及び制御方法、並びに、ロボット用制御プログラム
JP6238110B2 (ja) * 2013-07-25 2017-11-29 株式会社Ihi ロボットハンドの制御方法と制御装置
CN104737257B (zh) * 2013-09-10 2016-08-24 欧姆龙株式会社 恢复机构、加速机构、发电装置、发送装置及开关装置
US10766133B2 (en) 2014-05-06 2020-09-08 Sarcos Lc Legged robotic device utilizing modifiable linkage mechanism
US10759634B2 (en) * 2014-08-08 2020-09-01 GM Global Technology Operations LLC Electromechanical system for interaction with an operator
JP6520478B2 (ja) * 2015-06-30 2019-05-29 株式会社デンソーウェーブ ロボットアームの操作システム
JP6240689B2 (ja) 2015-07-31 2017-11-29 ファナック株式会社 人の行動パターンを学習する機械学習装置、ロボット制御装置、ロボットシステム、および機械学習方法
DE102016009030B4 (de) 2015-07-31 2019-05-09 Fanuc Corporation Vorrichtung für maschinelles Lernen, Robotersystem und maschinelles Lernsystem zum Lernen eines Werkstückaufnahmevorgangs
EP3263464B1 (de) * 2016-07-01 2019-04-17 Lifts All AB Transportarm zum transportieren von objekten
JP6517762B2 (ja) * 2016-08-23 2019-05-22 ファナック株式会社 人とロボットが協働して作業を行うロボットの動作を学習するロボットシステム
CA2941624A1 (en) * 2016-09-09 2018-03-09 Kal Tire Gravity assist system
US10821614B2 (en) 2016-11-11 2020-11-03 Sarcos Corp. Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
US10765537B2 (en) 2016-11-11 2020-09-08 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system
US10919161B2 (en) 2016-11-11 2021-02-16 Sarcos Corp. Clutched joint modules for a robotic system
US10828767B2 (en) 2016-11-11 2020-11-10 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements
FR3069664B1 (fr) * 2017-07-31 2019-08-30 Safran Electronics & Defense Procede d’assistance d’au moins un mouvement d’un utilisateur et dispositif correspondant
KR102165967B1 (ko) * 2017-11-17 2020-10-15 미쓰비시덴키 가부시키가이샤 3차원 공간 감시 장치, 3차원 공간 감시 방법, 및 3차원 공간 감시 프로그램
US10843330B2 (en) 2017-12-07 2020-11-24 Sarcos Corp. Resistance-based joint constraint for a master robotic system
US11331809B2 (en) 2017-12-18 2022-05-17 Sarcos Corp. Dynamically controlled robotic stiffening element
US10906191B2 (en) 2018-12-31 2021-02-02 Sarcos Corp. Hybrid robotic end effector
US11351675B2 (en) 2018-12-31 2022-06-07 Sarcos Corp. Robotic end-effector having dynamic stiffening elements for conforming object interaction
US11241801B2 (en) 2018-12-31 2022-02-08 Sarcos Corp. Robotic end effector with dorsally supported actuation mechanism
US11833676B2 (en) 2020-12-07 2023-12-05 Sarcos Corp. Combining sensor output data to prevent unsafe operation of an exoskeleton
US11794345B2 (en) 2020-12-31 2023-10-24 Sarcos Corp. Unified robotic vehicle systems and methods of control
US11826907B1 (en) 2022-08-17 2023-11-28 Sarcos Corp. Robotic joint system with length adapter
US11717956B1 (en) 2022-08-29 2023-08-08 Sarcos Corp. Robotic joint system with integrated safety
US11924023B1 (en) 2022-11-17 2024-03-05 Sarcos Corp. Systems and methods for redundant network communication in a robot
US11897132B1 (en) 2022-11-17 2024-02-13 Sarcos Corp. Systems and methods for redundant network communication in a robot
CN117565061B (zh) * 2024-01-16 2024-03-29 山西大学 基于机械臂搬运的速度与重量平衡控制系统

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Also Published As

Publication number Publication date
US6394731B1 (en) 2002-05-28
EP0997426A3 (de) 2003-09-10
JP2000084881A (ja) 2000-03-28
EP0997426A2 (de) 2000-05-03
JP3504507B2 (ja) 2004-03-08
EP0997426B1 (de) 2009-02-11

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