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1. WO2020153628 - ROBOT AND CONTROL METHOD THEREOF

Publication Number WO/2020/153628
Publication Date 30.07.2020
International Application No. PCT/KR2020/000227
International Filing Date 07.01.2020
IPC
B25J 11/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
B25J 5/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 19/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
02Sensing devices
Applicants
  • 삼성전자주식회사 SAMSUNG ELECTRONICS CO., LTD. [KR]/[KR]
Inventors
  • 김준영 KIM, Joonyoung
  • 이현중 LEE, Hyunjoong
Agents
  • 김태헌 KIM, Tae-hun
  • 정홍식 JEONG, Hong-sik
Priority Data
10-2019-000802522.01.2019KR
Publication Language Korean (KO)
Filing Language Korean (KO)
Designated States
Title
(EN) ROBOT AND CONTROL METHOD THEREOF
(FR) ROBOT ET SON PROCÉDÉ DE COMMANDE
(KO) 로봇 및 그 제어 방법
Abstract
(EN)
Disclosed is a robot. The robot comprises, a driving unit, and a processor which: determines a driving level of the robot on the basis of surrounding environment information of the robot when a user command for performing a task of the robot is input; determines, on the basis of information about a maximum allowable torque and information about a maximum allowable speed which are preset for each driving level, the maximum allowable torque and the maximum allowable speed corresponding to the driving level of the robot; calculates the maximum allowable acceleration of the robot on the basis of the maximum allowable torque; controls the driving unit so that the moving speed of the robot reaches the maximum allowable speed on the basis of the maximum allowable acceleration; and controls the robot to perform tasks while the robot is moving at the maximum allowable speed.
(FR)
La présente invention concerne un robot. Le robot comprend une unité d'entraînement et un processeur qui : détermine un niveau d'entraînement du robot sur la base d'informations d'environnement voisin du robot lorsqu'une instruction d'utilisateur pour effectuer une tâche du robot est entrée ; détermine, sur la base d'informations concernant un couple maximal autorisé et des informations concernant une vitesse maximale autorisée qui sont prédéfinies pour chaque niveau d'entraînement, le couple maximal autorisé et la vitesse maximale autorisée correspondant au niveau d'entraînement du robot ; calcule l'accélération maximale autorisée du robot sur la base du couple maximal autorisé ; commande l'unité d'entraînement de telle sorte que la vitesse de déplacement du robot atteigne la vitesse maximale autorisée sur la base de l'accélération maximale autorisée ; et commande le robot pour effectuer des tâches pendant que le robot se déplace à la vitesse maximale autorisée.
(KO)
로봇이 개시된다. 본 로봇은 구동부 및 로봇의 작업의 수행을 위한 사용자 명령이 입력되면, 로봇의 주변 환경 정보에 기초하여 로봇의 구동 레벨을 결정하고, 구동 레벨 별로 기설정된 최대 허용 토크에 대한 정보 및 최대 허용 속도에 대한 정보에 기초하여, 로봇의 구동 레벨에 대응되는 최대 허용 토크 및 최대 허용 속도를 판단하고, 최대 허용 토크에 기초하여 로봇의 최대 허용 가속도를 산출하고, 최대 허용 가속도에 기초하여 로봇의 이동 속도가 최대 허용 속도에 도달하도록 구동부를 제어하며, 로봇이 최대 허용 속도로 이동하는 동안 작업을 수행하도록 로봇을 제어하는 프로세서를 포함한다.
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