CN106493729A - 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
CN106493729A
CN106493729A CN201610808700.2A CN201610808700A CN106493729A CN 106493729 A CN106493729 A CN 106493729A CN 201610808700 A CN201610808700 A CN 201610808700A CN 106493729 A CN106493729 A CN 106493729A
Authority
CN
China
Prior art keywords
arm
robot
rotation axis
nth
speed
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
CN201610808700.2A
Other languages
English (en)
Chinese (zh)
Inventor
元吉正树
今井凉介
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 CN106493729A publication Critical patent/CN106493729A/zh
Pending legal-status Critical Current

Links

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
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • 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
    • B25J9/1651—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1638—Program controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • 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
    • G05B2219/40269—Naturally compliant robot arm

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
CN201610808700.2A 2015-09-07 2016-09-07 机器人、控制装置以及机器人系统 Pending CN106493729A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015-175431 2015-09-07
JP2015175431A JP2017052016A (ja) 2015-09-07 2015-09-07 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
CN106493729A true CN106493729A (zh) 2017-03-15

Family

ID=58190045

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610808700.2A Pending CN106493729A (zh) 2015-09-07 2016-09-07 机器人、控制装置以及机器人系统

Country Status (3)

Country Link
US (1) US20170066129A1 (https=)
JP (1) JP2017052016A (https=)
CN (1) CN106493729A (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109514528A (zh) * 2017-09-19 2019-03-26 精工爱普生株式会社 机器人及机器人系统
CN114474066A (zh) * 2022-03-04 2022-05-13 全爱科技(上海)有限公司 一种智能人形机器人控制系统和方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016190298A (ja) * 2015-03-31 2016-11-10 セイコーエプソン株式会社 ロボットおよびロボットシステム
JP6528525B2 (ja) * 2015-04-27 2019-06-12 セイコーエプソン株式会社 ロボットおよびロボットシステム
JP2021094602A (ja) * 2019-12-13 2021-06-24 セイコーエプソン株式会社 制御方法およびロボットシステム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59170334A (ja) * 1983-03-15 1984-09-26 Hitachi Constr Mach Co Ltd 作業機の軌跡制御装置
US5325467A (en) * 1990-05-25 1994-06-28 Fanuc Ltd. Robot control method based on an acceleration/deceleration time constant
US5737500A (en) * 1992-03-11 1998-04-07 California Institute Of Technology Mobile dexterous siren degree of freedom robot arm with real-time control system
CN1642696A (zh) * 2002-02-06 2005-07-20 约翰·霍普金斯大学 具有运动遥控中心的机器人装置和方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61152380A (ja) * 1984-12-26 1986-07-11 株式会社日立製作所 ロボツト
JP2812920B2 (ja) * 1996-05-30 1998-10-22 川崎重工業株式会社 ロボットの動作指令作成方法
DE102009019633B4 (de) * 2009-04-30 2011-02-24 Kuka Roboter Gmbh Bewegung eines Menschen durch einen Manipulator
JP5761238B2 (ja) * 2013-03-15 2015-08-12 株式会社安川電機 ロボットシステム及び被作業物の製造方法
EP3498432A1 (en) * 2013-03-26 2019-06-19 NTN Corporation Linking apparatus control device
JP5949741B2 (ja) * 2013-12-19 2016-07-13 株式会社安川電機 ロボットシステム及び検出方法
WO2016103308A1 (ja) * 2014-12-26 2016-06-30 川崎重工業株式会社 ロボットシステム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59170334A (ja) * 1983-03-15 1984-09-26 Hitachi Constr Mach Co Ltd 作業機の軌跡制御装置
US5325467A (en) * 1990-05-25 1994-06-28 Fanuc Ltd. Robot control method based on an acceleration/deceleration time constant
US5737500A (en) * 1992-03-11 1998-04-07 California Institute Of Technology Mobile dexterous siren degree of freedom robot arm with real-time control system
CN1642696A (zh) * 2002-02-06 2005-07-20 约翰·霍普金斯大学 具有运动遥控中心的机器人装置和方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109514528A (zh) * 2017-09-19 2019-03-26 精工爱普生株式会社 机器人及机器人系统
CN114474066A (zh) * 2022-03-04 2022-05-13 全爱科技(上海)有限公司 一种智能人形机器人控制系统和方法
CN114474066B (zh) * 2022-03-04 2024-02-20 全爱科技(上海)有限公司 一种智能人形机器人控制系统和方法

Also Published As

Publication number Publication date
US20170066129A1 (en) 2017-03-09
JP2017052016A (ja) 2017-03-16

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Application publication date: 20170315