CN102581852A - Attitude and position adjustment system for robot in heavy-duty assembly and handling - Google Patents
Attitude and position adjustment system for robot in heavy-duty assembly and handling Download PDFInfo
- Publication number
- CN102581852A CN102581852A CN2012100192233A CN201210019223A CN102581852A CN 102581852 A CN102581852 A CN 102581852A CN 2012100192233 A CN2012100192233 A CN 2012100192233A CN 201210019223 A CN201210019223 A CN 201210019223A CN 102581852 A CN102581852 A CN 102581852A
- Authority
- CN
- China
- Prior art keywords
- robot
- controller
- workpiece
- manual control
- control device
- 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.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
An attitude and position adjustment system for a robot in heavy-duty assembly and handling comprises a plurality of manual manipulators and a controller. The manual manipulators are directly placed at different positions on the surface of a workpiece to be operated, and are connected with the controller in a wired or wireless manner. An operator can directly push and pull an operating lever of each manual manipulator to generate operation signals. The signals are processed and calculated by the controller, and control commands are generated according to the operator's intent, and enable the robot to hold the manipulated workpiece to correspondingly move so as to adjust the position and attitude of the workpiece, which is equivalent to the fact that the operator directly pushes and pulls local positions of the work piece under the balanced state. The attitude and position adjustment system is especially suitable for multiple operators to focus on controlling the position and attitude of a plurality of key positions so as to assemble or handle a large workpiece.
Description
Technical field
What the present invention relates to is a kind of device of industrial robot technical field, specifically is a kind of manual control device that is used for non-structure environment robot heavy duty assembling/transport operation.
Background technology
When robot (perhaps other similar plant equipment, hereinafter all refers to robot) realizes the carrying of workpiece or assembling action under non-structure environment, often need adjust the position and the attitude of workpiece.Here so-called non-structure environment is meant that the robot working environment has uncertainty, can't realize accurately location automatically through programming in advance, for example is assembled body and can't measures and locate with respect to the position of robot.The purpose of using robot in this case is normally because the workpiece weight and volume is bigger, and manpower is difficult to accomplish assembling action, the for example installation of structural glass.
The robot real work is in the manual control pattern under this application model.Existing industrial robot adopts the mode of executor (being also referred to as teaching machine) to realize the manual control to robot usually; Be the hand-held executor of operator, perhaps move along coordinate direction through each the joint self-movement of several groups of button control robots on the executor.Also some executor uses the multidimensional control stick to control the motion of robot, for example KUKA industrial robot.But this method also is not suitable for above-mentioned heavy duty assembling and transport operation:
1, for the executor of push button, can only realize each joint self-movement of robot, perhaps the reference axis parallel direction along the predefine coordinate system moves and rotates around reference axis, can not realize the translation and the rotation of any direction.
2,, be difficult to realize the fine movement of robot for the multidimensional control stick.For large-scale workpiece, a low-angle rotates and will cause the bigger displacement in edge, and the control stick degree of regulation is not enough.And large-scale workpiece often need do local adjustment in some crucial contact site in installation, and the operator is difficult to judge that which type of attitude adjustment whole workpiece should do and just can satisfy the demand.
3, large-scale workpiece cooperates the completion assembling by many people usually, need approach observation at different parts, local adjustment.When being controlled by an executor, the operator has only a people, and other people are through communication, and are very not convenient when oral statement, and ambiguity is also arranged easily, can increase the risk of maloperation.
4, use these executors people that operates machine not directly perceived: executor separates with robot, need the convert relation in self erect-position and robot orientation of operator, and not only efficient is lower for this, also is easy to generate maloperation, possibly cause serious consequence.Robot manipulation person need pass through the professional training of long period could be on duty.
" by doing and illustrating " teaching of formula is a kind of more direct control mode; Be that the robot end adorns a handle; Six-dimension force sensor is arranged above; Can experience the size and Orientation of people's drawing handle steering force, control robot according to the size and Orientation of power and follow human hand movement, more more convenient than push button and multidimensional control stick.But for large-scale workpiece, 2,3 described defectives more than same the existence.
Summary of the invention
The present invention is directed to the above-mentioned deficiency that prior art exists, a kind of location regulating system that is used for robot heavy duty assembling is provided, can make several operators realize easily the position and the attitude of large-scale workpiece are adjusted, accomplish assembling work.
The present invention realizes through following technical scheme: described location regulating system comprises several manual control devices and a controller.
Described manual control device can be placed in the surface of the work that is assembled, and specifically quantity is looked the complexity of assembling work and participated in cooperating the number of assembling and deciding.The manual control device comprises surface adsorption device, control crank, three-dimensional force sensor, azimuth indicator, sensor signal processing module.
Described surface adsorption device is used for executor is fixed in surface of the work.For iron and steel system workpiece, can adopt magnetic suction disc absorption; For the workpiece of any surface finish such as glass, can adopt vacuum cup absorption; For other materials, can adopt multiple modes such as double faced adhesive tape to fix.Adsorbent equipment is as the substrate of executor, adopts modes such as flange and screw to be connected with other parts.
Described control crank is fixed on the substrate that adsorbent equipment constitutes, and by participating in cooperating the people of assembling to grip, and applies certain steering force, changes control signal into through the power sensor.This control signal is sent to controller, can control robot motion, thereby workpiece is carried out the pose adjustment.
Described three-dimensional force sensor is installed on the control crank root, can detect the component of the suffered steering force of handle in all directions, thereby obtains the size and Orientation of steering force.
Described azimuth indicator is installed on the executor shell, is made up of two potentiometer indication knobs.Stir the rotation knob by the operator, set the position of manual control device with respect to the robot tool coordinate.One of them knob points to the center of robot tool coordinate, is used for indicating the relative bearing at executor and robot tool coordinate center; Another knob points to corresponding scale on the dial plate, is used for indicating the distance at executor and robot tool coordinate center.
Described sensor signal processing module is a SCM system, comprises microprocessor, A/D conversion submodule and communicator module.Wherein A/D conversion submodule is used to read the signal of three-dimensional force sensor and two groups of needle electrometers, converts it to digital quantity.Wherein the communicator module be used for and controller between communication, data signal is sent to controller.Specifically radio receiving transmitting module can be adopted, also the wire cable ways of connecting can be adopted.
Described controller is an embedded computer system, receives the information that the manual control device sends through serial line interface, specifically can adopt radio receiving transmitting module, also can adopt the wire cable ways of connecting.Computer program is handled and computing sensor information, generates manual control signal, sends to robot controller through network interface, and the control robot realizes corresponding action.
Key of the present invention is controller to manual executor Signal Processing and calculating, produces relevant robot motion's commands for controlling robot motion, and accurate response goes out operator's intention.
The information processing and the calculating process of described controller are following:
Controller comprises from the information that the manual control device obtains: force signal and position signalling, force signal are the size and Orientation that the operator is applied to the power on the control crank, are obtained by three-dimensional force sensor; Position signalling is the position of manual control device with respect to the robot tool coordinate, is set through azimuth indicator by the operator, obtains through potentiometer indication knob.Controller is power and the moment that acts on the tool coordinates initial point according to the power equivalent transformation that the mechanics formula will act on the manual control device, controls the direction translation of robot power in the tool coordinates lower edge then, rotates around the moment direction.The speed of translation and rotation is proportional to the size of power and moment.Motion control instruction mails to robot controller by controller through communication interface, by the concrete drive machines people's motion of robot controller.Control action is equivalent at workpiece and is under the statically balanced state, on manual control device fixing point, has applied a power, makes whole work-piece under the effect of this power, move.When a plurality of manual control devices were worked simultaneously, then a plurality of controls acted at diverse location simultaneously, and the motion of workpiece is the stack of a plurality of control effects.
Its result of use is similar under state of weightlessness by the manual push-and-pull workpiece of operator, adjusts its position and attitude.Different is that the operator experiences the inertia less than workpiece, and what feel is damping, because be that speed is proportional to amount of force, but not acceleration is proportional to active force.The damping size depends on the damped coefficient of program setting.
The invention has the advantages that: (1) can use the most intuitively that mode realizes the six-freedom degree motion control to robot end's grabbing workpiece, accomplishes the manual operation to robot.(2) can cooperate the position and attitude adjustment of accomplishing large-scale heavy workpiece by a plurality of operators, each operator pays close attention to the crucial matching part in a place, and the direct manipulation workpiece motion s improves operating efficiency greatly.(3) use simply, need not training and can carry out the robot manipulation.
Description of drawings
Fig. 1 is the control system principle schematic.
Fig. 2 is the manipulator structure sketch map.
Fig. 3 is the controller architecture sketch map.
Fig. 4 concerns sketch map for coordinate transform.
The specific embodiment
Elaborate in the face of embodiments of the invention down, present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
Like Fig. 1-shown in Figure 3, present embodiment is realized through following technical scheme:
In the present embodiment; The carrying assembling work that robot 1 realizes large-scale workpiece 3 through instrument 2; The operator is fixed in workpiece 3 surfaces with manual control device 4, through the operate machine people motion of the handle of direct push-and-pull manual control device 4, with the adjustment location of workpiece and attitude.Manual control device 4 is communicated by letter with its controller 5 through radio receiving transmitting module, sends sensor signal to controller 5.Controller 5 produces motion control instruction through computing, sends to robot controller through network interface, specifically controls the robot motion by robot controller.
Described location regulating system comprises manual control device 4 and controller 5.Wherein the quantity of manual control device 4 can have a plurality ofly, and concrete quantity is looked the complexity of assembling work and participated in cooperating the number of assembling and deciding.Controller 5 quantity are one, are connected through the controller of network interface with robot 1.
Described manual control device 4 can be placed in workpiece 3 surfaces that are assembled, and comprises surface adsorption device 6, control crank 11, three-dimensional force sensor 10, azimuth indicator 13, sensor signal processing module 12, battery module 8 etc.
Described surface adsorption device 6 is used for executor is fixed in surface of the work.Adopt the manual vacuum sucker among this embodiment, comprise rubber cup and valve switch 7 thereof.By being pressed in workpiece 3 surfaces, the air of extruding in the leather cup can rely on atmospheric pressure surface adsorption device 6 to be fixed on the surface of workpiece 3 to the operator with surface adsorption device 6.Open valve switch 7, in leather cup, discharge air and can eliminate draught head, loosen surface adsorption device 6.Surface adsorption device 6 adopts flange to be connected with other parts with the screw mode as the substrate of executor.
Described control crank 11 is fixed on the substrate that surface adsorption device 6 constituted, and by participating in cooperating the people of assembling to grip, and applies certain steering force, changes control signal into through the power sensor.This control signal is sent to controller, can control robot motion, thereby workpiece is carried out the pose adjustment.
Described three-dimensional force sensor 10 is installed on the control crank root, can detect the component of the suffered steering force of handle in all directions, thereby obtains the size and Orientation of steering force.
Described azimuth indicator 13 is installed on the executor shell 9, employing be potentiometer indication knob, quantity is two.Stir the rotation knob by the operator, set the position of manual control device 4 with respect to robot tool 2.One of them knob points to the center of robot tool coordinate, is used for indicating the relative bearing at executor and robot tool coordinate center; Another knob points to corresponding scale on the dial plate, is used for indicating the distance at executor and robot tool coordinate center.
Described sensor signal processing module 12 is SCM systems, comprises microprocessor, serial communication interface and A/D translation interface etc.Sensor signal processing module 12 links to each other with radio receiving transmitting module 14 through its serial communication interface.Read the sensor signal of three-dimensional force sensor 10 and azimuth indicator 13 through the A/D translation interface, convert it to digital quantity.Wherein radio receiving transmitting module be used for and controller between digital communication, through antenna 15 data signal is sent to controller.
Described controller 5 is embedded computer systems, and concrete structure is as shown in Figure 3.Receive the information that manual control device 4 sends through wireless communication module.Computer program is handled and computing sensor information, generates manual control signal, sends to robot controller through network interface, and the control robot realizes corresponding action.
The information processing and the calculating process of described controller 5 are following:
Controller comprises from the information that the manual control device obtains: force signal and position signalling, force signal are the size and Orientation that the operator is applied to the power on the control crank 11, are obtained by three-dimensional force sensor 10; Position signalling is the position of manual control device 4 with respect to robot tool 2, is set through azimuth indicator 13 by the operator, obtains through potentiometer indication knob.As shown in Figure 4, the controller computer is according to the mechanics formula:
With the power equivalent transformation that acts on the manual control device 4 is power and the moment that acts on the tool coordinates initial point, controls the direction translation of robot power in the tool coordinates lower edge then, rotates around the moment direction.The speed of translation and rotation is proportional to the size of power and moment.Motion control instruction mails to robot controller by controller 5 through network interface, by the concrete drive machines people's motion of robot controller.Control action is equivalent at workpiece and is under the statically balanced state, on manual control device fixing point, has applied a power, makes whole work-piece under the effect of this power, move.When a plurality of manual control devices were worked simultaneously, then a plurality of controls acted at diverse location simultaneously, and the motion of workpiece is the stack of a plurality of control effects.
Its result of use is similar under state of weightlessness the direct manual push-and-pull workpiece by the operator, adjusts its position and attitude.Different is that the operator experiences the inertia less than workpiece, and what feel is damping, because be that speed is proportional to amount of force, but not acceleration is proportional to active force.The damping size depends on the damped coefficient of program setting.
The operating process of present embodiment is following:
(1) executor (teaching machine) that at first uses robot itself is according to the traditional approach people 1 that operates machine, and workpiece 3 is transported near the target location rough simultaneously its attitude of adjustment.
(2) cooperate the operator (can many people) of assembling that manual control device 4 is absorbed and fixed at tool surfaces, stationary plane should be parallel with the X-Y plane of robot tool coordinate, and the coordinate direction of manual control device 4 should be consistent with the robot tool coordinate, as shown in Figure 4.In fact because the tool coordinates of robot system can set arbitrarily, can be set in the surface of the work of fixed manual operator in the hope of X-Y plane, so this requirement is not difficult to satisfy with tool coordinates.For example when large flat glass was installed, tool coordinates system was set on the glass planar, and the manual control device also is absorbed and fixed on the glass planar and gets final product.
(3) operator sets azimuth indicator, and it is initial point that the knob pointer of representing the orientation is pointed to tool coordinates, and the knob of representing distance is screwed into corresponding scale.This gets final product apart from eye estimate.
(4) handle 11 of push-and-pull manual control device is adjusted the position and attitude of workpiece as required.This moment, robot was in the external control pattern, sent its motion of control instruction control by controller 5.
Adopt manual control device of the present invention and control method thereof, the operator need not the method that special training can be grasped the manual control robot motion.The manipulation process simple, intuitive can realize that many people cooperate carrying and the assembling of accomplishing large-scale workpiece, and everyone is responsible for the position and attitude of place's key position, improves the efficient and the security of assembling greatly.
Claims (6)
1. a location regulating system that is used for robot heavy duty assembling and transport operation is characterized in that: comprise that several can directly be placed in by manual control device and a controller of the diverse location on workpiece manipulation surface; Described manual control device links to each other with controller through wire cable or wireless sending module; Described controller is an embedded computer system, receives the information that the manual control device sends; Its computer program is handled and computing sensor information; Generate manual control instruction, send to robot controller through network interface, the control robot realizes corresponding action.
2. location regulating system according to claim 1 is characterized in that: described manual control device comprises surface adsorption device, control crank, three-dimensional force sensor, azimuth indicator, sensor signal processing module, wherein:
Described surface adsorption device, available different modes is fixed in surface of the work with executor;
Described control crank is fixed on the substrate that adsorbent equipment constitutes, by participating in cooperating the people of assembling to grip; And apply certain steering force, and changing control signal into through the power sensor, this control signal is sent to controller; In order to the control robot motion, thereby workpiece is carried out the pose adjustment;
Described three-dimensional force sensor is installed on the control crank root, detects the component of the suffered steering force of handle in all directions, thereby obtains the size and Orientation of steering force;
Described azimuth indicator; Be installed on the executor shell; Constitute by two potentiometer indication knobs, stir the rotation knob, set the position of this manual control device with respect to the robot tool coordinate by the operator; One of them knob points to the center of robot tool coordinate, is used for indicating the relative bearing at manual control device and robot tool coordinate center; Another knob points to corresponding scale on the dial plate, is used for indicating the distance at manual control device and robot tool coordinate center;
Described sensor signal processing module is a SCM system, comprises microprocessor; A/D conversion submodule and communicator module; Wherein said A/D conversion submodule is used to read three-dimensional force sensor and the potentiometric signal of two group-indicate knobs, converts it to digital quantity, wherein said communicator module be used for and controller between communication; Data signal is sent to controller, adopts radio receiving transmitting module or adopt the wire cable ways of connecting.
3. location regulating system according to claim 1 and 2 is characterized in that: described surface adsorption device, for iron and steel system workpiece, adopt magnetic suction disc absorption.
4. location regulating system according to claim 1 and 2 is characterized in that: described surface adsorption device, for the workpiece of any surface finish, adopt vacuum cup absorption.
5. location regulating system according to claim 1 and 2 is characterized in that: described surface adsorption device, for the workpiece except that the material of iron and steel or any surface finish, adopt double faced adhesive tape to fix.
6. the information processing of a controller and operation method; Be used for the location regulating system of robot heavy duty assembling and transport operation, it is characterized in that: by controller manual executor signal is handled and calculated, produce relevant robot motion's instruction; Through robot controller control robot motion; Realize operator's intention, wherein, said method comprises the steps:
Step 1, controller obtain relevant information from the manual control device, comprise force signal and position signalling, and said force signal is obtained by three-dimensional force sensor; Said position signalling is set through azimuth indicator by the operator, obtains through potentiometer indication knob;
Step 2, controller are power and the moment of equivalent action at the tool coordinates initial point according to the force transformation that the mechanics formula will act on the manual control device; Control the direction translation of robot power then in the tool coordinates lower edge; Rotate around the moment direction, the speed of translation and rotation is proportional to the size of power and moment;
Step 3, motion control instruction mail to robot controller by controller through communication interface; By the concrete drive machines people's motion of robot controller, control action is equivalent at workpiece and is under the statically balanced state, on manual control device fixing point, has applied a power; Make whole work-piece under the effect of this power, move; When a plurality of manual control devices were worked simultaneously, then a plurality of controls acted at diverse location simultaneously, and the motion of workpiece is the stack of a plurality of control effects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210019223.3A CN102581852B (en) | 2012-01-20 | 2012-01-20 | Attitude and position adjustment system for robot in heavy load assembly and handling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210019223.3A CN102581852B (en) | 2012-01-20 | 2012-01-20 | Attitude and position adjustment system for robot in heavy load assembly and handling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102581852A true CN102581852A (en) | 2012-07-18 |
| CN102581852B CN102581852B (en) | 2015-01-14 |
Family
ID=46471370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210019223.3A Expired - Fee Related CN102581852B (en) | 2012-01-20 | 2012-01-20 | Attitude and position adjustment system for robot in heavy load assembly and handling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102581852B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213136A (en) * | 2013-03-22 | 2013-07-24 | 南通航运职业技术学院 | Traction demonstration method and system for industrial robot |
| CN103600351A (en) * | 2013-11-11 | 2014-02-26 | 北京航空航天大学 | Six-axis-force-torque transducer based six-freedom-degree robot operating system and control method thereof |
| CN103909524A (en) * | 2013-01-09 | 2014-07-09 | 上银科技股份有限公司 | Directional position control method |
| DE102014004919A1 (en) | 2014-04-07 | 2015-10-08 | gomtec GmbH | Method and means for handling an object |
| CN105437250A (en) * | 2014-09-01 | 2016-03-30 | 赵德朝 | Series engineering robot |
| CN106239502A (en) * | 2015-06-08 | 2016-12-21 | 罗普伺达有限公司 | Paste robot control system and the method for part |
| CN106514712A (en) * | 2015-09-09 | 2017-03-22 | 发那科株式会社 | Object posture calculation system |
| CN108890630A (en) * | 2018-08-21 | 2018-11-27 | 广东工业大学 | A kind of robot teaching system and method |
| CN112203811A (en) * | 2018-05-25 | 2021-01-08 | 川崎重工业株式会社 | Robot system and robot control method |
| CN114161453A (en) * | 2021-12-30 | 2022-03-11 | 上海钛米机器人股份有限公司 | Robot control method, device and system based on double handles and electronic equipment |
| CN114161427A (en) * | 2021-12-30 | 2022-03-11 | 上海钛米机器人股份有限公司 | Robot control method, device and system based on elastic handle and electronic equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008213119A (en) * | 2007-03-07 | 2008-09-18 | Institute Of Physical & Chemical Research | Cooperative work robot and its control method |
| JP2010269419A (en) * | 2009-05-22 | 2010-12-02 | Ihi Corp | Robot control device and method |
| JP2011036964A (en) * | 2009-08-13 | 2011-02-24 | Ihi Corp | Robot control device and device for robot operation |
| JP2011036965A (en) * | 2009-08-13 | 2011-02-24 | Ihi Corp | Operation method for robot and device for robot operation |
| CN101999938A (en) * | 2010-10-15 | 2011-04-06 | 上海交通大学 | Manual operating device for bone surgery assisted robot |
-
2012
- 2012-01-20 CN CN201210019223.3A patent/CN102581852B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008213119A (en) * | 2007-03-07 | 2008-09-18 | Institute Of Physical & Chemical Research | Cooperative work robot and its control method |
| JP2010269419A (en) * | 2009-05-22 | 2010-12-02 | Ihi Corp | Robot control device and method |
| JP2011036964A (en) * | 2009-08-13 | 2011-02-24 | Ihi Corp | Robot control device and device for robot operation |
| JP2011036965A (en) * | 2009-08-13 | 2011-02-24 | Ihi Corp | Operation method for robot and device for robot operation |
| CN101999938A (en) * | 2010-10-15 | 2011-04-06 | 上海交通大学 | Manual operating device for bone surgery assisted robot |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103909524A (en) * | 2013-01-09 | 2014-07-09 | 上银科技股份有限公司 | Directional position control method |
| CN103909524B (en) * | 2013-01-09 | 2015-10-28 | 上银科技股份有限公司 | Directional type position control method |
| CN103213136B (en) * | 2013-03-22 | 2016-06-15 | 南通航运职业技术学院 | A kind of method and system drawing teaching for industrial robot |
| CN103213136A (en) * | 2013-03-22 | 2013-07-24 | 南通航运职业技术学院 | Traction demonstration method and system for industrial robot |
| CN103600351A (en) * | 2013-11-11 | 2014-02-26 | 北京航空航天大学 | Six-axis-force-torque transducer based six-freedom-degree robot operating system and control method thereof |
| US10300602B2 (en) | 2014-04-07 | 2019-05-28 | Abb Schweiz Ag | Method and means for handling an object |
| DE102014004919A1 (en) | 2014-04-07 | 2015-10-08 | gomtec GmbH | Method and means for handling an object |
| WO2015154870A1 (en) | 2014-04-07 | 2015-10-15 | gomtec GmbH | Method for handling an object by means of a manipulator and by means of an input tool |
| DE102014004919B4 (en) | 2014-04-07 | 2022-05-12 | Abb Schweiz Ag | Method and means for manipulating an object |
| CN105437250A (en) * | 2014-09-01 | 2016-03-30 | 赵德朝 | Series engineering robot |
| CN106239502A (en) * | 2015-06-08 | 2016-12-21 | 罗普伺达有限公司 | Paste robot control system and the method for part |
| US9903698B2 (en) | 2015-09-09 | 2018-02-27 | Fanuc Corporation | Object posture calculation system |
| CN106514712B (en) * | 2015-09-09 | 2018-04-06 | 发那科株式会社 | The posture computing system of object |
| CN106514712A (en) * | 2015-09-09 | 2017-03-22 | 发那科株式会社 | Object posture calculation system |
| CN112203811A (en) * | 2018-05-25 | 2021-01-08 | 川崎重工业株式会社 | Robot system and robot control method |
| CN112203811B (en) * | 2018-05-25 | 2023-05-09 | 川崎重工业株式会社 | Robot system and robot control method |
| CN108890630A (en) * | 2018-08-21 | 2018-11-27 | 广东工业大学 | A kind of robot teaching system and method |
| CN114161453A (en) * | 2021-12-30 | 2022-03-11 | 上海钛米机器人股份有限公司 | Robot control method, device and system based on double handles and electronic equipment |
| CN114161427A (en) * | 2021-12-30 | 2022-03-11 | 上海钛米机器人股份有限公司 | Robot control method, device and system based on elastic handle and electronic equipment |
| CN114161453B (en) * | 2021-12-30 | 2024-05-10 | 上海钛米机器人股份有限公司 | Robot control method, device and system based on double handles and electronic equipment |
| CN114161427B (en) * | 2021-12-30 | 2024-06-07 | 上海钛米机器人股份有限公司 | Robot control method, device and system based on elastic handle and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102581852B (en) | 2015-01-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102581852B (en) | Attitude and position adjustment system for robot in heavy load assembly and handling | |
| CN106826769B (en) | A kind of quick teaching apparatus of industrial robot and its implementation | |
| Brunete et al. | Hard material small-batch industrial machining robot | |
| CN101278244B (en) | Control system and teaching kit for industry robot | |
| US9731419B2 (en) | System and method for programming robots | |
| CN103192387B (en) | Robot and its control method | |
| CN104626152B (en) | Industrial robot Active Compliance Control method and device | |
| CN108748152B (en) | Robot teaching method and system | |
| CN106647529B (en) | A kind of intelligent teaching system towards the accurate tracing control in six-shaft industrial robot track | |
| US20150321351A1 (en) | Intuitive Motion Coordinate System for Controlling an Industrial Robot | |
| US11154985B1 (en) | Null space jog control for robotic arm | |
| US20170028549A1 (en) | Robotic navigation system and method | |
| Kawasaki et al. | Control of multi-fingered haptic interface opposite to human hand | |
| CN113580131A (en) | Mechanical arm tail end pose control device and method based on action mapping | |
| CN117021137A (en) | Visual teaching device adapting to various polishing tools | |
| Campbell et al. | Superpositioning of behaviors learned through teleoperation | |
| CN106003049B (en) | The control method of people-machine cooperative system | |
| Park et al. | Dual arm robot manipulator and its easy teaching system | |
| Jaju et al. | Evaluation of motion mappings from a haptic device to an industrial robot for effective master-slave manipulation | |
| CN108527405A (en) | A kind of cooperation robot guiding teaching system | |
| Chen et al. | Robotic arm calibration and teaching method based on binocular vision | |
| CN111823259A (en) | Robot remote teaching control device | |
| CN201702779U (en) | End effector control device of industrial robot | |
| Horan et al. | Towards haptic microrobotic intracellular injection | |
| Kawasaki et al. | Virtual robot teaching based on motion analysis and hand manipulability for multi-fingered robot |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150114 Termination date: 20180120 |