CN101076763B - 机器人系统 - Google Patents

机器人系统 Download PDF

Info

Publication number
CN101076763B
CN101076763B CN2005800425354A CN200580042535A CN101076763B CN 101076763 B CN101076763 B CN 101076763B CN 2005800425354 A CN2005800425354 A CN 2005800425354A CN 200580042535 A CN200580042535 A CN 200580042535A CN 101076763 B CN101076763 B CN 101076763B
Authority
CN
China
Prior art keywords
robot
point
laser
tool
laser beam
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
CN2005800425354A
Other languages
English (en)
Chinese (zh)
Other versions
CN101076763A (zh
Inventor
入江俊充
守田隆一
西川清吾
佐藤彰生
池田刚司
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.)
Yaskawa Electric Corp
Toyota Motor Corp
Original Assignee
Yaskawa Electric Corp
Toyota Motor Corp
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 Yaskawa Electric Corp, Toyota Motor Corp filed Critical Yaskawa Electric Corp
Publication of CN101076763A publication Critical patent/CN101076763A/zh
Application granted granted Critical
Publication of CN101076763B publication Critical patent/CN101076763B/zh
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least three axial directions, e.g. manipulators, robots
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39177—Compensation position working point as function of inclination tool, hand
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39401—Machine tool coordinates to manipulator coordinates
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39572—Task, tool manipulation
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40416—Planning for variable length tool, laser beam as tool
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45138—Laser welding
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45165—Laser machining

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Laser Beam Processing (AREA)
  • Manipulator (AREA)
CN2005800425354A 2004-12-10 2005-12-08 机器人系统 Expired - Lifetime CN101076763B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP358830/2004 2004-12-10
JP2004358830 2004-12-10
JP243351/2005 2005-08-24
JP2005243351A JP4922584B2 (ja) 2004-12-10 2005-08-24 ロボットシステム
PCT/JP2005/022575 WO2006062167A1 (ja) 2004-12-10 2005-12-08 ロボットシステム

Publications (2)

Publication Number Publication Date
CN101076763A CN101076763A (zh) 2007-11-21
CN101076763B true CN101076763B (zh) 2010-06-02

Family

ID=36577990

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2005800425354A Expired - Lifetime CN101076763B (zh) 2004-12-10 2005-12-08 机器人系统

Country Status (5)

Country Link
US (1) US7974735B2 (https=)
EP (1) EP1826643B1 (https=)
JP (1) JP4922584B2 (https=)
CN (1) CN101076763B (https=)
WO (1) WO2006062167A1 (https=)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4353219B2 (ja) * 2006-08-14 2009-10-28 日産自動車株式会社 レーザ加工装置、レーザ加工装置の制御方法
DE102007026956A1 (de) * 2007-06-12 2008-12-18 Kuka Innotec Gmbh Verfahren und System zum Roboter geführten Depalettieren von Reifen
US8457791B2 (en) * 2009-03-10 2013-06-04 GM Global Technology Operations LLC Method for dynamically controlling a robotic arm
JP5316124B2 (ja) * 2009-03-13 2013-10-16 日産自動車株式会社 レーザー溶接装置
DE102009023297A1 (de) 2009-05-29 2010-12-02 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Betrieb einer zusätzlichen Werkzeugachse eines von einem Manipulator geführten Werkzeugs
DE102010063222B4 (de) * 2010-12-16 2019-02-14 Robert Bosch Gmbh Einrichtung und Verfahren zur Programmierung einer Handhabungsvorrichtung sowie Handhabungsvorrichtung
JP5441018B2 (ja) * 2011-03-15 2014-03-12 株式会社安川電機 ロボットシステム
JP5459256B2 (ja) * 2011-04-08 2014-04-02 株式会社安川電機 ロボットシステム
JP5459255B2 (ja) 2011-04-08 2014-04-02 株式会社安川電機 ロボットシステム
CN102794767B (zh) * 2012-08-31 2014-09-24 江南大学 视觉引导的机器人关节空间b样条轨迹规划方法
EP2722136A1 (en) * 2012-10-19 2014-04-23 inos Automationssoftware GmbH Method for in-line calibration of an industrial robot, calibration system for performing such a method and industrial robot comprising such a calibration system
US10399178B2 (en) 2012-12-20 2019-09-03 3M Innovative Properties Company Material processing system with low-inertia laser scanning and end effector manipulation
JP6453555B2 (ja) * 2013-03-29 2019-01-16 ファナック アメリカ コーポレイション ロボットによるレーザブレーズ工程或いはレーザ溶接工程の適応制御
CN104162894B (zh) * 2013-05-17 2016-03-02 光宝电子(广州)有限公司 清扫机器人及清扫机器人的定位方法
JP6311421B2 (ja) * 2014-04-10 2018-04-18 株式会社安川電機 ティーチングシステム、ロボットシステムおよびティーチング方法
CN104062902B (zh) * 2014-05-15 2017-01-04 江南大学 Delta机器人时间最优轨迹规划方法
JP5905521B2 (ja) * 2014-06-26 2016-04-20 ファナック株式会社 工具先端点制御中に生じるバックラッシを抑制することを特徴とする数値制御装置
WO2016021130A1 (ja) * 2014-08-05 2016-02-11 パナソニックＩｐマネジメント株式会社 オフラインティーチング装置
JP2016163921A (ja) * 2015-03-06 2016-09-08 ファナック株式会社 曲げ加工機と同期動作するロボットを有するロボットシステム
JP6434434B2 (ja) * 2016-02-09 2018-12-05 ファナック株式会社 加工装置をロボットに接続して加工を行う加工ロボットシステム
CN105834735A (zh) * 2016-04-19 2016-08-10 北京航空航天大学 一种基于激光跟踪仪的零部件自动装配方法
JP6325646B1 (ja) 2016-12-12 2018-05-16 ファナック株式会社 ロボットを用いてレーザ加工を行うレーザ加工ロボットシステム及びレーザ加工ロボットの制御方法
JP6457473B2 (ja) 2016-12-16 2019-01-23 ファナック株式会社 ロボットおよびレーザスキャナの動作を学習する機械学習装置，ロボットシステムおよび機械学習方法
JP6464213B2 (ja) * 2017-02-09 2019-02-06 ファナック株式会社 レーザ加工ヘッドおよび撮影装置を備えるレーザ加工システム
JP6496340B2 (ja) * 2017-03-17 2019-04-03 ファナック株式会社 スキャナ制御装置、ロボット制御装置及びリモートレーザ溶接ロボットシステム
CN107052599A (zh) * 2017-04-18 2017-08-18 温州大学 一种机器人激光焊接起焊点收焊点去焊坑的方法
JP2019158500A (ja) * 2018-03-12 2019-09-19 オムロン株式会社 外観検査システム、画像処理装置、撮像装置および検査方法
JP6836558B2 (ja) 2018-08-31 2021-03-03 ファナック株式会社 レーザ加工のための教示装置
EP3981540A4 (en) 2019-06-05 2022-08-17 Panasonic Intellectual Property Management Co., Ltd. Laser welding device and laser welding method using same
CN110561421B (zh) * 2019-08-09 2021-03-19 哈尔滨工业大学（深圳） 机械臂间接拖动示教方法及装置
JP7464055B2 (ja) * 2019-08-30 2024-04-09 株式会社ニコン 処理システム及びロボットシステム
CN111168671A (zh) * 2020-01-02 2020-05-19 珠海格力电器股份有限公司 一种伺服驱动器、控制方法和控制系统
TWI903031B (zh) * 2021-03-08 2025-11-01 日商發那科股份有限公司 控制系統、控制裝置及外部裝置
DE102022213536A1 (de) * 2022-12-13 2024-06-13 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Herstellen eines Sensors und Sensor

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4650952A (en) * 1984-12-20 1987-03-17 Gmf Robotics Corporation Robot-laser system
CN1701901A (zh) * 2004-05-28 2005-11-30 康茂股份公司 用于机器人辅助远程激光焊接的方法和装置

Family Cites Families (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4621333A (en) * 1983-08-31 1986-11-04 Mitsubishi Denki Kabushiki Kaisha Method and apparatus for controlling a robot to perform weaving-like motion
US4689756A (en) * 1984-06-29 1987-08-25 Shin Meiwa Industry Co., Ltd. Robot interpolation control method
JPS62120995A (ja) * 1985-11-18 1987-06-02 豊田工機株式会社 ロボツトにおける干渉防止方法
DE3761789D1 (de) * 1986-07-09 1990-04-05 Siemens Ag Verfahren zum bestimmen von die steuerung eines roboters leitenden raumpunkten.
JPH07104692B2 (ja) * 1986-10-02 1995-11-13 トヨタ自動車株式会社 予見追跡制御型ロボツト
JPS63140788A (ja) 1986-12-03 1988-06-13 Japan Nuclear Fuel Co Ltd<Jnf> Ｃｏ↓２レ−ザ溶接のクレ−タ処理方法
US4835710A (en) * 1987-07-17 1989-05-30 Cincinnati Milacron Inc. Method of moving and orienting a tool along a curved path
JPH01218789A (ja) * 1988-02-27 1989-08-31 Nippei Toyama Corp レーザ加工方法
US4922431A (en) * 1988-11-16 1990-05-01 Automation Intelligence, Inc. Method and apparatus of tool control in arbitrary plane operations
WO1991017857A1 (en) * 1990-05-23 1991-11-28 Shin Meiwa Industry Co., Ltd. Laser robot and its control method, optical beam deflection apparatus and apparatus for generating its control signal
KR930007775B1 (ko) * 1990-12-28 1993-08-19 삼성전자 주식회사 로보트의 직선보간(補間)방법
US5396160A (en) * 1991-03-11 1995-03-07 General Motors Corporation Method of real-time machine path planning from a math model
US5438522A (en) * 1992-12-18 1995-08-01 Cincinnati Milacron Inc. Method and apparatus for sub-span interpolation
DE4404141A1 (de) * 1994-02-09 1995-08-10 Fraunhofer Ges Forschung Vorrichtung und Verfahren zur Laserstrahlformung, insbesondere bei der Laserstrahl-Oberflächenbearbeitung
US5602968A (en) * 1994-05-02 1997-02-11 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Task space angular velocity blending for real-time trajectory generation
JPH08147023A (ja) * 1994-11-21 1996-06-07 Komatsu Ltd ロボットの教示装置
JPH08166813A (ja) * 1994-12-14 1996-06-25 Fanuc Ltd ウィービング動作を伴うロボットのトラッキング制御方法
US6167328A (en) * 1995-09-19 2000-12-26 Kabushiki Kaisha Yaskawa Denki Robot language processing apparatus
DE19750156A1 (de) * 1997-11-12 1999-05-20 K H Arnold Maschinenfabrik Gmb Verfahren zur numerischen Steuerung einer Werkzeugmaschine mit variabler Strahlleistung zur Strahlbearbeitung und zugehörige Werkzeugmaschine
JP2000263273A (ja) * 1999-03-19 2000-09-26 Amada Co Ltd Ｙａｇレーザ加工機のティーチング方法及びその装置
US6430472B1 (en) * 1999-12-20 2002-08-06 Servo-Robot Inc. Robot feature tracking devices and methods
SE0001312D0 (sv) * 2000-04-10 2000-04-10 Abb Ab Industrirobot
JP3686317B2 (ja) * 2000-08-10 2005-08-24 三菱重工業株式会社 レーザ加工ヘッド及びこれを備えたレーザ加工装置
JP3424001B2 (ja) * 2000-12-28 2003-07-07 川崎重工業株式会社 レーザ溶接方法およびレーザ溶接装置
ITTO20010102A1 (it) * 2001-02-05 2002-08-05 Prima Ind Spa Sistema e metodo di saldatura laser remota.
WO2002080081A1 (en) * 2001-03-29 2002-10-10 Lasx Industries, Inc. Controller for a laser using predictive models of materials processing
US20040034599A1 (en) * 2001-06-01 2004-02-19 Pietro Ferrero Method and device for the robot-controlled cutting of workpieces to be assembled by means of laser radiation
DE10204993B4 (de) 2002-02-05 2005-06-09 Jenoptik Automatisierungstechnik Gmbh Vorrichtung zum Bearbeiten von dreidimensional ausgedehnten Werkstückoberflächen mittels Laser
US6671651B2 (en) * 2002-04-26 2003-12-30 Sensable Technologies, Inc. 3-D selection and manipulation with a multiple dimension haptic interface
DE10255037A1 (de) * 2002-11-26 2004-06-09 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Bearbeiten eines Werkstücks
DE10333456A1 (de) * 2003-07-22 2005-02-24 Kuka Schweissanlagen Gmbh Verfahren und Vorrichtung zum Laserbearbeiten von Werkstücken
CA2489941C (en) * 2003-12-18 2012-08-14 Comau S.P.A. A method and device for laser welding
JP5070861B2 (ja) * 2006-03-23 2012-11-14 日産自動車株式会社 レーザ溶接装置およびその方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4650952A (en) * 1984-12-20 1987-03-17 Gmf Robotics Corporation Robot-laser system
CN1701901A (zh) * 2004-05-28 2005-11-30 康茂股份公司 用于机器人辅助远程激光焊接的方法和装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
JP特开昭63-140788A 1988.06.13

Also Published As

Publication number Publication date
US20080161964A1 (en) 2008-07-03
EP1826643A4 (en) 2011-11-30
JP4922584B2 (ja) 2012-04-25
US7974735B2 (en) 2011-07-05
WO2006062167A1 (ja) 2006-06-15
EP1826643B1 (en) 2014-06-18
CN101076763A (zh) 2007-11-21
JP2006187803A (ja) 2006-07-20
EP1826643A1 (en) 2007-08-29

Similar Documents

Publication Publication Date Title
CN101076763B (zh) 机器人系统
CN102307697B (zh) 激光焊接设备
US7292910B2 (en) Method and device for machining a workpiece
US4638143A (en) Robot-laser system
CN109014565B (zh) 激光加工装置
US8820203B2 (en) Method of controlling a robot for small shape generation
US20110224815A1 (en) Industrial Robot And Path Planning Method For Controlling The Movement Of An Industrial Robot
JPS59134682A (ja) マニピュレ−タ装置
US9616526B2 (en) Method and device for controlling an auxiliary tool axis of a tool being guided by a manipulator
KR100661427B1 (ko) 레이저 용접 시스템 및 레이저 용접의 제어 방법
JPS61150793A (ja) 改良ロボツトレーザーシステム
JPWO2002066210A1 (ja) ロボット制御装置
JP5608074B2 (ja) レーザ加工システム及びその制御方法
EP1661657B1 (en) Laser processing robot system with a scanning head and a rapid movable support mechanism ; Method for controlling the same
JP2003230975A (ja) レーザーを用いて３次元的に広がる加工品表面を加工するための装置
CN116323076A (zh) 激光加工系统和控制方法
JP2019209444A (ja) ロボット制御装置及びロボット制御方法
CN112894207A (zh) 一种焊接机器人的视觉焊缝跟踪系统
EP4364901A1 (en) Micromanipulator
KR100230147B1 (ko) 곡선부재용접방법
CN116367952A (zh) 激光加工系统和控制方法
JPH01175004A (ja) ロボット制御装置
CN121696576A (zh) 一种工件切割控制方法、装置及设备
JPH04353906A (ja) 移動体の移動制御装置
Watson Robotics For High Power Laser Beam Manipulation

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CX01 Expiry of patent term
CX01 Expiry of patent term

Granted publication date: 20100602