公开(公告)号：KR101294348B1

公开(公告)日：2013-08-07

申请号：KR1020120050117

申请日：2012-05-11

Applicant: 재단법인대구경북과학기술원

Inventor： 이승열 ,  문전일 ,  안진웅

IPC: B25J9/16 ,  B25J13/08

Abstract: PURPOSE: A method and a system to control valves based on autonomous cooperation of remote control robots are provided to implement an autonomous movement of the robot by generating and estimating a target movement route of each robot based on movement information and dimension information of objects after the movement information of the robot is stored in a specific storage device. CONSTITUTION: A method to control valves based on autonomous cooperation of remote control robots comprises the steps of: gripping a jig connected to the valve by operating a robot arm of each slave robot (410,420); measuring valve dimension information through the jig; storing a gripper coordinate system of each slave robots based on the measured valve dimension information and generating a movement route of each slave robots; and alternately gripping the jig and rotating the valve while each slave robots are repeatedly estimating the generated route. [Reference numerals] (100) Master device; (200) Wireless communication device; (300) Cooperation and autonomous movement commands generating device; (410) Slave robot #1; (420) Slave robot #2; (500) Target object (valve); (AA) Operator

Abstract translation: 目的：提供一种基于遥控机器人自主配合控制阀门的方法和系统，通过生成和估计机器人的目标运动路线，根据运动信息和物体的尺寸信息，实现机器人的自主运动 机器人的运动信息存储在特定的存储装置中。 构成：基于远程控制机器人的自主配合来控制阀的方法包括以下步骤：通过操作每个从机器人的机器人手臂（410,420）夹紧连接到阀的夹具; 通过夹具测量阀门尺寸信息; 基于测量的阀尺寸信息存储每个从机器人的夹持器坐标系，并产生每个从机器人的运动路线; 并且当每个从机器人重复地估计生成的路线时，交替地夹紧夹具并旋转阀。 （附图标记）（100）主装置; （200）无线通信设备; （300）合作自主运动指令发生装置; （410）从机器人＃1; （420）从机器人＃2; （500）目标物（阀）; （AA）运营商