专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

11. 发明公开

EP0945227A3 Method for planning/controlling robot motion 失效
标题翻译：用于规划和机器人的控制方法
公开(公告)号：EP0945227A3
公开(公告)日：2000-06-07
申请号：EP99109178.6
申请日：1995-11-09
申请人： AMADA COMPANY, LIMITED , U.S. AMADA LTD.
发明人： Bourne, David Alan , Krishnan, Sivaraj Sivarama
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/40421 , G05B2219/40444 , G05B2219/40445 , G05B2219/40446 , G05B2219/40458 , G05B2219/40463 , G05B2219/40476 , G05B2219/40488 , G05B2219/40497 , G05B2219/45143
摘要： A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements, a proposed movement that will not result in a collision and that will bring the robot closer to the goal position. In choosing proposed movements, an estimated cost associated with each proposed movement may be taken into account. The estimated cost may be based upon a euclidian distance to the goal position from the position of the robot after the particular proposed movement is made as the mth movement, and/or the estimated cost may be determined as a function of the robot travel time from an (m -1)th movement to the mth movement. Different methods are provided for performing fine motion planning and gross motion planning.

12. 发明公开

EP0945227A2 Method for planning/controlling robot motion 失效
标题翻译： Verfahren zur Plannung und Steuerung von Robotern
公开(公告)号：EP0945227A2
公开(公告)日：1999-09-29
申请号：EP99109178.6
申请日：1995-11-09
申请人： AMADA COMPANY, LIMITED , U.S. AMADA LTD.
发明人： Bourne, David Alan , Krishnan, Sivaraj Sivarama
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/40421 , G05B2219/40444 , G05B2219/40445 , G05B2219/40446 , G05B2219/40458 , G05B2219/40463 , G05B2219/40476 , G05B2219/40488 , G05B2219/40497 , G05B2219/45143
摘要： A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements, a proposed movement that will not result in a collision and that will bring the robot closer to the goal position. In choosing proposed movements, an estimated cost associated with each proposed movement may be taken into account. The estimated cost may be based upon a euclidian distance to the goal position from the position of the robot after the particular proposed movement is made as the mth movement, and/or the estimated cost may be determined as a function of the robot travel time from an (m -1)th movement to the mth movement. Different methods are provided for performing fine motion planning and gross motion planning.
摘要翻译：提供了一种计算机化方法/系统，用于规划机器人在由初始位置到目标位置的障碍物限制的自由空间内的运动。在执行该方法/系统时，产生一个计划，使得机器人可以在由弯曲装置执行的整个弯曲操作的顺序中保持和操纵工件。针对运动序列中的第m次运动提出了由机器人制造的多个提出的运动，并且将自动空间的限制的机器人和障碍物的至少一部分建模。确定是否在机器人和每个建议的运动的障碍物之间发生碰撞，并且通过选择运动序列中的每个运动来生成包括运动序列的计划，所提出的不会产生的运动在碰撞中，这将使机器人更接近目标位置。在选择拟议运动时，可以考虑与每个拟议运动相关的估计费用。估计成本可以基于在将特定提议的运动作为第m次运动之后从机器人的位置到达目标位置的欧几里德距离，和/或可以根据机器人行进时间的函数来确定估计成本（m -1）运动到第m次运动。提供了不同的方法来执行精细运动规划和总体运动规划。

13. 发明公开

EP1015946A1 APPARATUS AND METHOD FOR MULTI-PART SETUP PLANNING FOR SHEET METAL BENDING OPERATIONS 有权
标题翻译：设备和方法进行施工规划，操作更加PARTS FOR板料折弯
公开(公告)号：EP1015946A1
公开(公告)日：2000-07-05
申请号：EP98941842.1
申请日：1998-09-11
申请人： AMADA COMPANY, Ltd. , Amada America Inc.
发明人： Gupta, Satyandra Kumar , Bourne, David Alan
IPC分类号： G05B19/4097
CPC分类号： B25J9/1666 , G05B19/4097 , G05B2219/40054 , G05B2219/40476 , G05B2219/40517 , G05B2219/40628
摘要： A setup planning technique is provided in which a family of parts to be manufactured is identified, and the setup constraints imposed by the various bending operations in the part family are determined. The setup constraints may define or describe spatial constraints on the sizes and locations of various tooling stages in the setup. After identifying setup constraints, setup plans are generated that satisfy all setup constraints. Any setup plan that satisfies all setup constraints may then be utilized to accommodate every part in the part family. Constraint propagation techniques may be utilized to identify compatible setup constraints and create setup plans. According to the various features and aspects of the invention, dissimilar sheet metal parts can share setups, and the need for extra tooling and fixturing may be minimized. Further, the present invention provides potential savings over state-of-the-art systems, and increases production capability and overall through-put of manufacturing facilities.

14. 发明授权

EP1015946B1 APPARATUS AND METHOD FOR MULTI-PART SETUP PLANNING FOR SHEET METAL BENDING OPERATIONS 有权
标题翻译：设备和方法进行施工规划，操作更加PARTS FOR板料折弯
公开(公告)号：EP1015946B1
公开(公告)日：2007-08-29
申请号：EP98941842.1
申请日：1998-09-11
申请人： AMADA COMPANY, Ltd. , Amada America Inc.
发明人： Gupta, Satyandra Kumar , Bourne, David Alan
IPC分类号： G05B19/4097
CPC分类号： B25J9/1666 , G05B19/4097 , G05B2219/40054 , G05B2219/40476 , G05B2219/40517 , G05B2219/40628
摘要： A setup planning technique is provided in which a family of parts to be manufactured is identified, and the setup constraints imposed by the various bending operations in the part family are determined. The setup constraints may define or describe spatial constraints on the sizes and locations of various tooling stages in the setup. After identifying setup constraints, setup plans are generated that satisfy all setup constraints. Any setup plan that satisfies all setup constraints may then be utilized to accommodate every part in the part family. Constraint propagation techniques may be utilized to identify compatible setup constraints and create setup plans. According to the various features and aspects of the invention, dissimilar sheet metal parts can share setups, and the need for extra tooling and fixturing may be minimized. Further, the present invention provides potential savings over state-of-the-art systems, and increases production capability and overall through-put of manufacturing facilities.

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式