CN106217373B - 机器人、机器人控制装置、机器人控制方法以及机器人系统 - Google Patents

机器人、机器人控制装置、机器人控制方法以及机器人系统 Download PDF

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CN106217373B
CN106217373B CN201610374832.9A CN201610374832A CN106217373B CN 106217373 B CN106217373 B CN 106217373B CN 201610374832 A CN201610374832 A CN 201610374832A CN 106217373 B CN106217373 B CN 106217373B
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fitting
posture
robot
fitting member
contact
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Chinese (zh)
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CN106217373A (zh
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下平泰裕
小林正一
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Seiko Epson Corp
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Seiko Epson Corp
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    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • 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
    • G05B2219/39194—Compensation gravity
    • 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
    • G05B2219/39319—Force control, force as reference, active compliance
    • 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
    • G05B2219/39321—Force control as function of position of 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39322—Force and position control
    • 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
    • G05B2219/39332—Adaptive force control
    • 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
    • G05B2219/40032—Peg and hole insertion, mating and joining, remote center compliance
    • 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
    • G05B2219/40033—Assembly, microassembly
    • 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
    • G05B2219/45055—Assembly
    • 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
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN201610374832.9A 2015-06-02 2016-05-31 机器人、机器人控制装置、机器人控制方法以及机器人系统 Active CN106217373B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015-111967 2015-06-02
JP2015111967A JP6592969B2 (ja) 2015-06-02 2015-06-02 嵌合方法

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Publication Number Publication Date
CN106217373A CN106217373A (zh) 2016-12-14
CN106217373B true CN106217373B (zh) 2021-10-01

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US (1) US10071483B2 (enExample)
EP (1) EP3100830A3 (enExample)
JP (1) JP6592969B2 (enExample)
CN (1) CN106217373B (enExample)

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CN107309871A (zh) * 2016-04-27 2017-11-03 广明光电股份有限公司 机器手臂的编程方法
JP6458912B1 (ja) * 2018-01-24 2019-01-30 三菱電機株式会社 位置制御装置及び位置制御方法
WO2019208162A1 (ja) * 2018-04-26 2019-10-31 パナソニック株式会社 アクチュエータ装置、アクチュエータ装置による対象物取出方法、及び、対象物取出システム
FR3083336B1 (fr) * 2018-07-02 2020-10-23 Psa Automobiles Sa Procede de mise en place d'un element d'assemblage sur un element recepteur
JP7172277B2 (ja) * 2018-08-21 2022-11-16 セイコーエプソン株式会社 制御装置及びロボットシステム
JP7167547B2 (ja) * 2018-08-22 2022-11-09 セイコーエプソン株式会社 制御装置、及び、ロボットシステム
CN112584987B (zh) * 2019-03-15 2024-07-09 欧姆龙株式会社 把持位置姿势登记装置、把持位置姿势登记方法以及计算机可读存储介质
JP2020163548A (ja) * 2019-03-29 2020-10-08 セイコーエプソン株式会社 水平多関節ロボットおよびロボットシステム
JP7207094B2 (ja) * 2019-03-29 2023-01-18 セイコーエプソン株式会社 水平多関節ロボット
CZ308669B6 (cs) * 2019-08-13 2021-02-03 ŠKODA AUTO a.s. Lisovací linka a pracovní postup kontroly výlisků na této lisovací lince
US11628561B2 (en) * 2019-08-19 2023-04-18 The Hong Kong University Of Science And Technology System and methods for robotic precision placement and insertion
KR102719546B1 (ko) * 2019-08-30 2024-10-17 엘지전자 주식회사 로봇 및 그 작동방법
JP2021079519A (ja) * 2019-11-22 2021-05-27 セイコーエプソン株式会社 ロボットシステムおよびツール交換方法
CN114786888B (zh) * 2020-01-16 2024-07-30 欧姆龙株式会社 控制装置、控制方法以及控制程序
JP7503992B2 (ja) * 2020-10-08 2024-06-21 株式会社安川電機 ロボット装置、及び制御方法
TWI894450B (zh) * 2021-03-30 2025-08-21 日商發那科股份有限公司 算出控制機器人的位置及姿勢的參數之控制裝置
CN113601492A (zh) * 2021-08-18 2021-11-05 珠海格力电器股份有限公司 机器臂组件及机器人
CN118354877A (zh) * 2021-12-20 2024-07-16 发那科株式会社 通过转矩或力的控制进行零点标定的机器人的控制装置
CN117961877A (zh) * 2022-10-25 2024-05-03 罗伯特·博世有限公司 用于确定放置对象的路径的方法、装置和计算机可读存储介质
GB2638469A (en) * 2024-02-23 2025-08-27 Airbus Operations Ltd Robot arrangement for assembling a part
CN118596157B (zh) * 2024-08-05 2024-10-01 成都博恩思医学机器人有限公司 一种机械臂控制方法、装置、电子设备及存储介质

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Publication number Publication date
CN106217373A (zh) 2016-12-14
EP3100830A2 (en) 2016-12-07
JP2016221642A (ja) 2016-12-28
JP6592969B2 (ja) 2019-10-23
EP3100830A3 (en) 2017-01-04
US20160354928A1 (en) 2016-12-08
US10071483B2 (en) 2018-09-11

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