A double-armed robot equipped with first and second arms which each have a first link capable of rotating around a first axis and a second link rotatably connected to the first link and defining an end effector attachment part. In addition, the first link of the first arm and the first link of the second arm are positioned at a distance from one another in the direction of extension of the first axis. Furthermore, the second link of the first arm and the second link of the second arm are positioned between the first link of the first arm and the first link of the second arm in the direction of extension of the first axis, and positioned in a manner such that the positions of the end effector attachment parts thereof in the direction of extension of the first axis are substantially identical.
Publication number: WO2016103302A1 | Search similar patents
Robot comprising at least one arm
In a robot having at least one arm comprising a plurality of kinematic arm units serving as movement axes, and the arm being equipped with lines and hoses for supplying power and/or working substances, these lines or hoses for the various handling devices are arranged within the movable arm units or a number of arm units themselves, e.g. in six arm units.
Publication number: EP0489966A1 | Search similar patents
Robot arm control device, robot arm control method and program
The robot arm control device of the present disclosure is provided with: a speed-calculating unit for calculating the operating speeds of multiple joint sections that achieve at least six degrees of freedom in the driving of a multi-link structure configured from multiple links by connecting said multiple links; and a parameter-controlling unit for controlling control parameters related to the actions of the joint sections on the basis of said operating speeds. Said configuration makes it possible to achieve control of the robot arm device that allows further improvement of operability and safety.
Publication number: WO2015137140A1 | Search similar patents
Line guiding device and industrial robot with such a line guiding device
The invention relates to a line guiding device (14, 15) for guiding at least one supply line (19) along a manipulator arm (1) which comprises multiple elements (G1-G7) connected by at least three joints (L1-L6), having: - at least one mounting (20, 21, 22) which is designed to secure at least one supply line (19) section (19a), in particular a fixed supply line section, on at least one of the elements (G1-G7) of the manipulator arm (1), and - a controllable drive device (16, 17) which is designed to actively move at least one other supply line (19) section (19b), in particular a movable supply line section, relative to the manipulator arm (1). The invention also relates to an industrial robot (3) with such a line guiding device (14, 15).
Publication number: WO2015067622A1 | Search similar patents
Industrial robot with parallel kinematics and method for controlling such a robot
The robot has an end effector (3) for holding a set of objects i.e. tools, where the end effector comprises an arm (10.3) with a set of connection parts and one of the connection parts is connected with the end effector at a connection point and connected with a first connection piece at another connection point. The connection parts are swingably supported at the connection points. A second connection piece is rotatable around a first rotational axis and a second rotational axis, and a third connection piece is rotatable around a third rotational axis. An independent claim is also included for a method for controlling an industrial robot.
Publication number: EP2574428A1 | Search similar patents
Robot device and robot control device
The purpose of the present invention is to improve operability of translational movement/orientation changes of a robot arm mechanism. This robot device is provided with: a robot arm mechanism (200) provided with a plurality of joint parts capable of having end effectors (3) mounted to the ends thereof; an operation unit (300) for performing movement/orientation change operations of the end effectors; and a control unit (100) for controlling driving of the joint parts in accordance with the operations of the operation unit. The control unit associates a translational operation from the operation unit with the three orthogonal axes of a robot coordinate system of the robot arm mechanism, and moves the end reference points. In this movement, the orientations of the end effectors are maintained in the orientations in the robot coordinate system which were present at the start of the translational operation. An orientation change operation of the end effectors, which is inputted by the operation unit, is associated with the three orthogonal axes of an end coordinate system which uses references points of the end effectors as starting points, and the orientations of the end effectors are changed. During these changes, the positions of the end reference points are maintained in the positions in the robot coordinate system which were present at the start of the orientation change operation.
Publication number: WO2016084932A1 | Search similar patents
Parallel robot and control method
Parallel robot comprising at least one drive device and one tool platform for coupling at least one end effector, wherein the parallel robot is formed by a first kinematic structure and a second kinematic structure, wherein the first kinematic structure is articulated rotatably fixed to the frame and the second kinematic structure is fixed to the frame, and the first kinematic structure has the tool platform for accommodating a tool, and the second kinematic structure has the at least one drive device and is configured to drive the first kinematic structure, wherein the first kinematic structure and the second kinematic structure are coupled to one another only via at least one coupling joint, the first kinematic structure and the second kinematic structure have different elements from one another and the at least one drive device is configured so as to be capable of revolving.
Publication number: WO2015144429A1 | Search similar patents
Robot arm apparatus, robot arm control method, and program
[Problem] To make improved convenience for the user possible. [Solution] Provided is a robot arm apparatus equipped with: an arm part composed of a plurality of links coupled together by joint parts, and designed such that it is possible to attach an imaging unit; and a drive controller for driving the individual joint parts in coordinated fashion, to control driving of the arm part. On the basis of the status of the arm part, and distance information between the imaging unit and a reference position, the drive controller uses relative position information of the reference position with respect to the arm part, to control driving of the arm part in such a way that the reference position is positioned on the optical axis of the imaging unit.
Publication number: WO2015129474A1 | Search similar patents
Robot arm device, robot arm control method and program
[Problem] To make it possible to further improve safety. [Solution] Provided is a robot arm device (10) equipped with: an arm unit (120), which is configured by connecting multiple links to each other by joint sections (130) and which can be operated with a first degree of freedom; and a drive controller (111) for driving the arm unit (120) by controlling the driving of the joint sections (130). When a malfunction is detected in any one of the joint sections (130), the drive controller (111) controls the driving of the joint sections (130) other than the joint section in which the malfunction has been detected to drive the arm unit (12) with a second degree of freedom that is less than the first degree of freedom.
Publication number: WO2015137040A1 | Search similar patents