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DE60336852D1 - Fehlerdetektor für mobilen roboter - Google Patents

Fehlerdetektor für mobilen roboter

Info

Publication number
DE60336852D1
DE60336852D1 DE60336852T DE60336852T DE60336852D1 DE 60336852 D1 DE60336852 D1 DE 60336852D1 DE 60336852 T DE60336852 T DE 60336852T DE 60336852 T DE60336852 T DE 60336852T DE 60336852 D1 DE60336852 D1 DE 60336852D1
Authority
DE
Germany
Prior art keywords
error detector
mobile robots
robots
mobile
detector
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
DE60336852T
Other languages
English (en)
Inventor
Naohide Ogawa
Yuichiro Kawaguchi
Masaki Aihara
Takashi Matsumoto
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.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
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 Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Application granted granted Critical
Publication of DE60336852D1 publication Critical patent/DE60336852D1/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
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34454—Check functioning controller, cpu or program
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34455—Different parameters are evaluated to indicate different faults
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42268—Safety, excess in error

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE60336852T 2003-02-14 2003-02-14 Fehlerdetektor für mobilen roboter Expired - Lifetime DE60336852D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2003/001578 WO2004071718A1 (ja) 2002-01-18 2003-02-14 移動ロボットの異常検知装置

Publications (1)

Publication Number Publication Date
DE60336852D1 true DE60336852D1 (de) 2011-06-01

Family

ID=34362472

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60336852T Expired - Lifetime DE60336852D1 (de) 2003-02-14 2003-02-14 Fehlerdetektor für mobilen roboter

Country Status (5)

Country Link
US (1) US7348746B2 (de)
EP (1) EP1598155B1 (de)
AU (1) AU2003212000A1 (de)
DE (1) DE60336852D1 (de)
WO (1) WO2004071718A1 (de)

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* Cited by examiner, † Cited by third party
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US20040064195A1 (en) 2002-07-15 2004-04-01 Hugh Herr Variable-mechanical-impedance artificial legs
US8075633B2 (en) * 2003-09-25 2011-12-13 Massachusetts Institute Of Technology Active ankle foot orthosis
JP4373903B2 (ja) * 2004-12-14 2009-11-25 本田技研工業株式会社 自律移動ロボット
JP4930003B2 (ja) * 2006-11-20 2012-05-09 株式会社日立製作所 移動ロボット
US8909370B2 (en) * 2007-05-08 2014-12-09 Massachusetts Institute Of Technology Interactive systems employing robotic companions
KR20090043088A (ko) * 2007-10-29 2009-05-06 삼성전자주식회사 영상 기반의 로봇 고장 자가 진단 장치 및 방법
FR2929873B1 (fr) * 2008-04-09 2010-09-03 Aldebaran Robotics Architecture de controle-commande d'un robot mobile utilisant des membres articules
JP4705128B2 (ja) 2008-04-15 2011-06-22 オリンパスメディカルシステムズ株式会社 マニピュレータ
JP2012501739A (ja) 2008-09-04 2012-01-26 アイウォーク・インコーポレーテッド ハイブリッド型地形適応下肢システム
US20110082566A1 (en) 2008-09-04 2011-04-07 Herr Hugh M Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis
JP5219956B2 (ja) * 2009-07-23 2013-06-26 本田技研工業株式会社 移動体の制御装置
US8260460B2 (en) * 2009-09-22 2012-09-04 GM Global Technology Operations LLC Interactive robot control system and method of use
US8369992B2 (en) * 2009-09-22 2013-02-05 GM Global Technology Operations LLC Embedded diagnostic, prognostic, and health management system and method for a humanoid robot
US8442684B2 (en) * 2009-09-22 2013-05-14 GM Global Technology Operations LLC Integrated high-speed torque control system for a robotic joint
CN102892388A (zh) 2010-04-05 2013-01-23 Iwalk股份有限公司 控制假体或矫形器中的转矩
WO2013067407A1 (en) 2011-11-02 2013-05-10 Iwalk, Inc. Biomimetic transfemoral prosthesis
CA2876187C (en) 2012-06-12 2021-01-26 Iwalk, Inc. Prosthetic, orthotic or exoskeleton device
JP6015178B2 (ja) * 2012-07-11 2016-10-26 オムロン株式会社 安全システム
JP6333688B2 (ja) * 2014-09-24 2018-05-30 本田技研工業株式会社 移動ロボットの制御装置
SE538868C2 (en) 2015-05-04 2017-01-17 Husqvarna Ab Improved error detection and resetting of a robotic work tool
WO2016185593A1 (ja) * 2015-05-21 2016-11-24 日産自動車株式会社 故障診断装置及び故障診断方法
US9821461B1 (en) 2015-10-09 2017-11-21 X Development Llc Determining a trajectory for a walking robot to prevent motor overheating
JP6500867B2 (ja) * 2016-09-23 2019-04-17 カシオ計算機株式会社 ロボット、故障診断システム、故障診断方法及びプログラム
DE102018203234A1 (de) * 2018-03-05 2019-09-05 Kuka Deutschland Gmbh Vorausschauende Beurteilung von Robotern
JP6969447B2 (ja) * 2018-03-05 2021-11-24 日本電産株式会社 ロボット制御装置、記録の作成方法およびプログラム
CN108714911A (zh) * 2018-07-13 2018-10-30 长沙紫宸科技开发有限公司 一种带自主液压分布动力的多关节仿生机械螯钳
CN109623877A (zh) * 2019-01-21 2019-04-16 广州高新兴机器人有限公司 机器人的自检方法、自检系统及计算机存储介质
JP7483341B2 (ja) * 2019-09-26 2024-05-15 キヤノン株式会社 情報処理方法、情報処理装置、機械設備、物品の製造方法、プログラム、記録媒体
CN114290312B (zh) * 2021-12-02 2024-11-15 上海擎朗智能科技有限公司 机器人车轮检测方法、装置及存储介质
CN114966279A (zh) * 2022-05-25 2022-08-30 江苏智库智能科技有限公司 一种基于电流来诊断行驶异常的方法、系统及四向穿梭车

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US5396160A (en) * 1991-03-11 1995-03-07 General Motors Corporation Method of real-time machine path planning from a math model
JP3269852B2 (ja) * 1992-05-29 2002-04-02 本田技研工業株式会社 脚式移動ロボットの姿勢安定化制御装置
JPH06114766A (ja) 1992-10-01 1994-04-26 Hitachi Ltd マニピュレータの遠隔制御装置
JPH07334227A (ja) * 1994-06-07 1995-12-22 Nippon Telegr & Teleph Corp <Ntt> ロボット離隔制御通信装置及び方法
JP3655056B2 (ja) * 1997-08-04 2005-06-02 本田技研工業株式会社 脚式移動ロボットの制御装置
WO1999064208A1 (fr) * 1998-06-09 1999-12-16 Sony Corporation Robot et procede de commande de son attitude
JP4366617B2 (ja) * 1999-01-25 2009-11-18 ソニー株式会社 ロボット装置
JP2001150374A (ja) 1999-11-25 2001-06-05 Sony Corp ロボットの故障診断システム
JP2001277163A (ja) * 2000-04-03 2001-10-09 Sony Corp ロボットの制御装置及び制御方法
TW546874B (en) * 2000-10-11 2003-08-11 Sony Corp Robot apparatus and its control method with a function of preventing an image from being stolen
JP2002144260A (ja) * 2000-11-13 2002-05-21 Sony Corp 脚式移動ロボット及びその制御方法

Also Published As

Publication number Publication date
US20060214621A1 (en) 2006-09-28
WO2004071718A1 (ja) 2004-08-26
AU2003212000A1 (en) 2004-09-06
EP1598155A4 (de) 2008-09-17
EP1598155A1 (de) 2005-11-23
US7348746B2 (en) 2008-03-25
EP1598155B1 (de) 2011-04-20

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