发明公开
EP2906396A1 A METHOD AND AN APPARATUS FOR AUTOMATICALLY GENERATING A COLLISION FREE RETURN PROGRAM FOR RETURNING A ROBOT FROM A STOP POSITION TO A PREDEFINED RESTART POSITION
审中-公开
基本信息:
- 专利标题： A METHOD AND AN APPARATUS FOR AUTOMATICALLY GENERATING A COLLISION FREE RETURN PROGRAM FOR RETURNING A ROBOT FROM A STOP POSITION TO A PREDEFINED RESTART POSITION
- 专利标题（中）：方法和设备，用于反转的机器人从一个停止位置的无冲突的REVERSE程序自动生产预定义的重新启动位置
- 申请号：EP12775657.5 申请日：2012-10-11
- 公开(公告)号：EP2906396A1 公开(公告)日：2015-08-19
- 发明人： STRANDBERG, Morten
- 申请人： ABB Technology Ltd.
- 申请人地址： Affolternstrasse 44 8050 Zürich CH
- 专利权人： ABB Technology Ltd.
- 当前专利权人： ABB Technology Ltd.
- 当前专利权人地址： Affolternstrasse 44 8050 Zürich CH
- 代理机构： Savela, Reino Aleksi
- 国际公布： WO2014056533 20140417
- 主分类号： B25J9/16
- IPC分类号： B25J9/16
摘要：
The present invention relates to a method and an apparatus for automatically generating a collision free return program for returning a robot from a stop position to a predefined restart position when the robot has been stopped during operation due to an error. The apparatus comprises a receiving part (12) adapted to receive a request for a recovery path and information on the stop position of the robot, a path generating part (14) adapted to generate a collision free recovery path for the robot upon receiving said request, based on the predefined restart position and the stop position of the robot using a path planning algorithm that generates robot positions connected by collision free path segments, and a programming part (16) adapted to generate the return program based on the generated return path.
IPC结构图谱:
| B | 作业；运输 |
| --B25 | 手动工具；轻便机动工具；手动器械的手柄；车间设备；机械手 |
| ----B25J | 机械手；装有操纵装置的容器 |
| ------B25J9/00 | 程序控制机械手 |
| --------B25J9/16 | .程序控制 |