CN106393098A - 机器人、控制装置以及机器人系统 - Google Patents

机器人、控制装置以及机器人系统 Download PDF

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Publication number
CN106393098A
CN106393098A CN201610483986.1A CN201610483986A CN106393098A CN 106393098 A CN106393098 A CN 106393098A CN 201610483986 A CN201610483986 A CN 201610483986A CN 106393098 A CN106393098 A CN 106393098A
Authority
CN
China
Prior art keywords
arm
robot
value
acceleration
angular velocity
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.)
Pending
Application number
CN201610483986.1A
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English (en)
Chinese (zh)
Inventor
五味晃宏
年光俊介
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.)
Seiko Epson Corp
Original Assignee
Seiko Epson 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 Seiko Epson Corp filed Critical Seiko Epson Corp
Publication of CN106393098A publication Critical patent/CN106393098A/zh
Pending legal-status Critical Current

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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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • G05B2219/37134—Gyroscope
    • 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
    • G05B2219/37388—Acceleration or deceleration, inertial measurement
    • 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
    • G05B2219/39195—Control, avoid oscillation, vibration due to low rigidity
    • 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
    • G05B2219/40597—Measure, calculate angular momentum, gyro of rotating body at end effector
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41021—Variable gain
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41025—Detect oscillation, unstability of servo and change gain to stabilize again
    • 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
    • Y10S901/46—Sensing device

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN201610483986.1A 2015-07-27 2016-06-28 机器人、控制装置以及机器人系统 Pending CN106393098A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015-148095 2015-07-27
JP2015148095A JP6575200B2 (ja) 2015-07-27 2015-07-27 ロボット、制御装置およびロボットシステム

Publications (1)

Publication Number Publication Date
CN106393098A true CN106393098A (zh) 2017-02-15

Family

ID=56567410

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610483986.1A Pending CN106393098A (zh) 2015-07-27 2016-06-28 机器人、控制装置以及机器人系统

Country Status (4)

Country Link
US (1) US9950427B2 (enExample)
EP (1) EP3124183B1 (enExample)
JP (1) JP6575200B2 (enExample)
CN (1) CN106393098A (enExample)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106914701A (zh) * 2017-03-01 2017-07-04 绍兴创新激光科技有限公司 一种机器人激光焊接方法及系统
CN106945048A (zh) * 2017-05-08 2017-07-14 广州赫伽力智能科技有限公司 一种智能移动机器人自动上纱系统
CN110614637A (zh) * 2019-10-19 2019-12-27 上海麦艺文化艺术设计有限公司 一种人像动作的控制方法及其系统

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JP6936081B2 (ja) * 2017-08-30 2021-09-15 パナソニック株式会社 ロボット
JP7027774B2 (ja) 2017-09-29 2022-03-02 セイコーエプソン株式会社 ロボット
JP7560241B2 (ja) * 2019-01-30 2024-10-02 株式会社安川電機 ロボットシステム
JP6989542B2 (ja) * 2019-01-31 2022-01-05 ファナック株式会社 ロボット制御装置
JP7358744B2 (ja) * 2019-02-22 2023-10-11 セイコーエプソン株式会社 ロボットシステム、制御装置、および制御方法
CN111015738A (zh) * 2019-12-27 2020-04-17 上海智殷自动化科技有限公司 一种工业机器人振动抑制方法
US12202146B2 (en) * 2021-10-15 2025-01-21 Fanuc Corporation Method of robotic system dynamic velocity modification
JP2024050223A (ja) * 2022-09-29 2024-04-10 セイコーエプソン株式会社 ロボットおよびロボットの制御方法

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JP2010284725A (ja) * 2009-06-09 2010-12-24 Seiko Epson Corp ロボット装置、搬送装置および慣性センサーを用いた制御方法
JP2013066954A (ja) * 2011-09-21 2013-04-18 Seiko Epson Corp ロボット及びロボットの制御方法
CN103568013A (zh) * 2012-07-31 2014-02-12 精工爱普生株式会社 机器人的控制装置、控制方法以及机器人
US20140067118A1 (en) * 2012-08-31 2014-03-06 Seiko Epson Corporation Robot
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JP6307835B2 (ja) * 2013-10-28 2018-04-11 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
JP6314426B2 (ja) * 2013-10-31 2018-04-25 セイコーエプソン株式会社 ロボット制御装置およびロボット制御方法
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JP2010284725A (ja) * 2009-06-09 2010-12-24 Seiko Epson Corp ロボット装置、搬送装置および慣性センサーを用いた制御方法
JP2013066954A (ja) * 2011-09-21 2013-04-18 Seiko Epson Corp ロボット及びロボットの制御方法
CN103568013A (zh) * 2012-07-31 2014-02-12 精工爱普生株式会社 机器人的控制装置、控制方法以及机器人
US20140067118A1 (en) * 2012-08-31 2014-03-06 Seiko Epson Corporation Robot
US20150120050A1 (en) * 2013-10-30 2015-04-30 Seiko Epson Corporation Robot control device, robot, and robot system
US20150151432A1 (en) * 2013-12-02 2015-06-04 Seiko Epson Corporation Robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106914701A (zh) * 2017-03-01 2017-07-04 绍兴创新激光科技有限公司 一种机器人激光焊接方法及系统
CN106914701B (zh) * 2017-03-01 2019-08-16 绍兴创新激光科技有限公司 一种机器人激光焊接方法及系统
CN106945048A (zh) * 2017-05-08 2017-07-14 广州赫伽力智能科技有限公司 一种智能移动机器人自动上纱系统
CN110614637A (zh) * 2019-10-19 2019-12-27 上海麦艺文化艺术设计有限公司 一种人像动作的控制方法及其系统

Also Published As

Publication number Publication date
EP3124183A1 (en) 2017-02-01
US20170028554A1 (en) 2017-02-02
EP3124183B1 (en) 2021-12-01
JP2017024144A (ja) 2017-02-02
US9950427B2 (en) 2018-04-24
JP6575200B2 (ja) 2019-09-18

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Application publication date: 20170215