CN104723338B - 机器人、机器人的控制方法及机器人的控制程序 - Google Patents

机器人、机器人的控制方法及机器人的控制程序 Download PDF

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Publication number
CN104723338B
CN104723338B CN201410647517.XA CN201410647517A CN104723338B CN 104723338 B CN104723338 B CN 104723338B CN 201410647517 A CN201410647517 A CN 201410647517A CN 104723338 B CN104723338 B CN 104723338B
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China
Prior art keywords
point
workpiece
correction
storage part
robot
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CN201410647517.XA
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English (en)
Chinese (zh)
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CN104723338A (zh
Inventor
住居裕介
比留间健郎
比留间健一郎
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Snake Eye Co ltd
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Janome Sewing Machine Co Ltd
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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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37021—Robot controls position of touch probe
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/16—Cartesian, three degrees of freedom
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN201410647517.XA 2013-12-20 2014-11-14 机器人、机器人的控制方法及机器人的控制程序 Active CN104723338B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2013-263654 2013-12-20
JP2013263654A JP6475409B2 (ja) 2013-12-20 2013-12-20 ロボット、ロボットの制御方法、及びロボットの制御プログラム

Publications (2)

Publication Number Publication Date
CN104723338A CN104723338A (zh) 2015-06-24
CN104723338B true CN104723338B (zh) 2017-11-14

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Country Status (6)

Country Link
US (1) US9958856B2 (enExample)
JP (1) JP6475409B2 (enExample)
KR (1) KR101658417B1 (enExample)
CN (1) CN104723338B (enExample)
DE (1) DE102014117346B4 (enExample)
TW (1) TWI566906B (enExample)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6311695B2 (ja) 2015-12-16 2018-04-18 カシオ計算機株式会社 自律移動装置、自律移動方法及びプログラム
CN105551323A (zh) * 2016-01-29 2016-05-04 广州中鸣数码科技有限公司 基于无线连接的智能点读笔
JP6795471B2 (ja) * 2017-08-25 2020-12-02 ファナック株式会社 ロボットシステム
JP6963748B2 (ja) * 2017-11-24 2021-11-10 株式会社安川電機 ロボットシステム及びロボットシステムの制御方法
CN109226928B (zh) * 2018-11-14 2021-05-25 紫光日东科技（深圳）有限公司 一种焊接材料设置方法和点锡机
CN110253567B (zh) * 2019-05-22 2021-07-20 深圳镁伽科技有限公司 用于控制机器人运动的运动控制系统、方法及机器人
CN113021329B (zh) * 2019-12-24 2022-08-02 深圳市优必选科技股份有限公司 一种机器人运动控制方法、装置、可读存储介质及机器人
CN113780464B (zh) * 2021-09-26 2024-10-15 唐山百川智能机器股份有限公司 转向架紧固件防松标识检测方法

Citations (8)

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US4594670A (en) * 1983-02-21 1986-06-10 Mitsubishi Denki Kabushiki Kaisha Robot control apparatus
CN1150401A (zh) * 1994-06-17 1997-05-21 株式会社小松制作所 机器人控制系统
JP2004299013A (ja) * 2003-03-31 2004-10-28 Fanuc Ltd 誤差修正フィードバック機能を有するロボットオフラインプログラミング装置
CN1754665A (zh) * 2004-09-28 2006-04-05 发那科株式会社 机器人程序生成装置
CN101213049A (zh) * 2006-05-31 2008-07-02 松下电器产业株式会社 旋转中心点计算方法、旋转轴线计算方法、程序的生成、动作方法以及机器人装置
CN101828153A (zh) * 2007-09-04 2010-09-08 武藏工业株式会社 作成移动程序的程序与装置
CN103056884A (zh) * 2011-10-20 2013-04-24 株式会社安川电机 机器人系统和被加工对象物制造方法
CN103442661A (zh) * 2011-02-21 2013-12-11 瑞恩科技有限公司 基于根据使用者指定所确定的变位信息执行手术的手术用机器人系统及其控制方法

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JPH01153289A (ja) * 1987-12-10 1989-06-15 Mitsubishi Electric Corp 産業用ロボット装置
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4594670A (en) * 1983-02-21 1986-06-10 Mitsubishi Denki Kabushiki Kaisha Robot control apparatus
CN1150401A (zh) * 1994-06-17 1997-05-21 株式会社小松制作所 机器人控制系统
JP2004299013A (ja) * 2003-03-31 2004-10-28 Fanuc Ltd 誤差修正フィードバック機能を有するロボットオフラインプログラミング装置
CN1754665A (zh) * 2004-09-28 2006-04-05 发那科株式会社 机器人程序生成装置
CN101213049A (zh) * 2006-05-31 2008-07-02 松下电器产业株式会社 旋转中心点计算方法、旋转轴线计算方法、程序的生成、动作方法以及机器人装置
CN101828153A (zh) * 2007-09-04 2010-09-08 武藏工业株式会社 作成移动程序的程序与装置
CN103442661A (zh) * 2011-02-21 2013-12-11 瑞恩科技有限公司 基于根据使用者指定所确定的变位信息执行手术的手术用机器人系统及其控制方法
CN103056884A (zh) * 2011-10-20 2013-04-24 株式会社安川电机 机器人系统和被加工对象物制造方法

Also Published As

Publication number Publication date
JP2015116655A (ja) 2015-06-25
TWI566906B (zh) 2017-01-21
DE102014117346B4 (de) 2017-05-24
KR101658417B1 (ko) 2016-09-21
KR20150073068A (ko) 2015-06-30
JP6475409B2 (ja) 2019-02-27
US9958856B2 (en) 2018-05-01
TW201524721A (zh) 2015-07-01
US20150177730A1 (en) 2015-06-25
CN104723338A (zh) 2015-06-24
DE102014117346A1 (de) 2015-08-06

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Patentee before: Janome Sewing Machine Co.,Ltd.

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