Universal Robots A/s

Syddansk Universitet

Terma A/s

Nlr - Netherlands Aerospace Centre

Technicon Aps

Henrik Gordon Petersen

Esben Hallundbæk Østergaard

Rune Søe-Knudsen

Ole Wennerberg Nielsen

Dorthe Soelvason

Gudmundur Geir Gunnarsson

Asim Ikram

Jesper Freltoft

Lars-Peter Ellekilde

Johannes Cornelis De Kruijk

Phillippe Lovejoy-courrier

Asger Bloksma Krogstrup

André Alexander Westergaard

Jakob Rømsgaard

Casper Hansen

Jens Cortsen

Esben Hallundbæk ØStergaard

Rune SØE-Knudsen

An end effector for handling a sheet of flexible material. The end effector includes a support frame and manipulator assemblies, each attached to the support frame by a support mount. The manipulator assemblies include a holding tool having a lifting surface. The manipulator assemblies include a linear actuator, and the holding tool is connected to the linear actuator by a multiaxial joint. A drive provides—the displacement of the holding tool by the linear actuator. The end effector includes resilient members each rigidly affixed to two adjacent holding tools and positioned in a space providing a mutual distance between opposing faces of the adjacent holding tools, where each holding tool is connected to—adjacent holding tools—by the resilient members. The resilient members are configured to non-permanently deform in the space when adjacent holding tools are displaced relative to each other along displacement axes.

End effector including resilient members between adjacent holding tools

Methods includes calibrating robots without the use of external measurement equipment and copying working programs between un-calibrated robots. Both methods utilize the properties of a closed chain and the relative position of the links in the chain in order to update the kinematic models of the robots.

Calibration and programming of robots

The invention pertains to a method of calibrating robots without the use of external measurement equipment. The invention furthermore pertains to a method of copying working programs between un-calibrated robots. Both methods utilize the properties of a closed chain and the relative position of the links in the chain in order to update the kinematic models of the robots.

There is provided a computer-implemented method for determining feasible joint trajectories for an n-dof (n&#x3e;5) robot in a rotation invariant processing of an object, such as milling, painting, and welding. The method includes the steps of receiving geometric data representing the object; receiving geometric data representing the processing tool; receiving a tool path X(t), where t is time; searching for feasible paths q(t) using IK (t) and q(t) as set of possible solutions at time t, wherein q(t) defines positions of all the joints in the robot as function of time, q(t) defines the rotation of a tool flange around the tool axis at time t, and IK (t) defines the inverse kinematics solutions for a given X(t) and q(t); and determining, from the geometric data and X(t), how the joint path q(t) should be chosen so as to comply with one or more optimisation criteria.

Method of finding feasible joint trajectories for an n-dof robot with rotation invariant process (n&#x3e;5)

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Odense NV, Denmark

Henrik Gordon Petersen