CN106826808A - 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
CN106826808A
CN106826808A CN201610889312.1A CN201610889312A CN106826808A CN 106826808 A CN106826808 A CN 106826808A CN 201610889312 A CN201610889312 A CN 201610889312A CN 106826808 A CN106826808 A CN 106826808A
Authority
CN
China
Prior art keywords
arm
robot
inertial sensor
rotation axis
axis
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
CN201610889312.1A
Other languages
English (en)
Chinese (zh)
Inventor
元吉正树
今井凉介
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 CN106826808A publication Critical patent/CN106826808A/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
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0018—Bases fixed on ceiling, i.e. upside down 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
    • B25J9/1694—Program 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
    • 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—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • 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
    • B25J9/1641—Program controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN201610889312.1A 2015-11-02 2016-10-12 机器人、控制装置以及机器人系统 Pending CN106826808A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015215650A JP2017087301A (ja) 2015-11-02 2015-11-02 ロボット、制御装置およびロボットシステム
JP2015-215650 2015-11-02

Publications (1)

Publication Number Publication Date
CN106826808A true CN106826808A (zh) 2017-06-13

Family

ID=58637175

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610889312.1A Pending CN106826808A (zh) 2015-11-02 2016-10-12 机器人、控制装置以及机器人系统

Country Status (3)

Country Link
US (1) US20170120444A1 (enExample)
JP (1) JP2017087301A (enExample)
CN (1) CN106826808A (enExample)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113442128A (zh) * 2020-03-27 2021-09-28 财团法人工业技术研究院 减低机械手臂振动的方法
CN116175531A (zh) * 2021-11-26 2023-05-30 精工爱普生株式会社 机械臂及机器人系统

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10456911B2 (en) * 2014-10-10 2019-10-29 Fuji Corporation Conveyance method and conveyance device
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
CN109333517A (zh) * 2018-12-19 2019-02-15 苏州神运机器人有限公司 一种桁架式多臂机器人及桁架式多工位连续生产装置
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
JP7404627B2 (ja) * 2019-03-13 2023-12-26 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
JP2022119257A (ja) * 2021-02-04 2022-08-17 株式会社不二越 搬送ロボット
JP2025086761A (ja) * 2023-11-28 2025-06-09 セイコーエプソン株式会社 ロボットシステム

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3331660C2 (enExample) * 1983-09-02 1987-12-10 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg, De
CN100349705C (zh) * 2002-02-06 2007-11-21 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
US20130218338A1 (en) * 2009-07-06 2013-08-22 Seiko Epson Corporation Position control method and robot
CN103659799A (zh) * 2012-08-31 2014-03-26 精工爱普生株式会社 机器人
US20140205416A1 (en) * 2013-01-18 2014-07-24 Persimmon Technologies Corp. Robot Having Arm with Unequal Link Lengths
CN104097199A (zh) * 2013-04-10 2014-10-15 精工爱普生株式会社 机器人、机器人控制装置以及机器人系统

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3326962A1 (de) * 1983-07-27 1985-02-07 Josef 4790 Paderborn Göllner jun. Industrieroboter mit zweigliedrigem gelenkarm
JPS61152380A (ja) * 1984-12-26 1986-07-11 株式会社日立製作所 ロボツト
US6995536B2 (en) * 2003-04-07 2006-02-07 The Boeing Company Low cost robot manipulator
JP5962340B2 (ja) * 2012-08-31 2016-08-03 セイコーエプソン株式会社 ロボット
JP6332900B2 (ja) * 2012-08-31 2018-05-30 セイコーエプソン株式会社 ロボットシステム及びロボット制御装置
JP2014205199A (ja) * 2013-04-10 2014-10-30 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
JP6354122B2 (ja) * 2013-06-05 2018-07-11 セイコーエプソン株式会社 ロボット

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3331660C2 (enExample) * 1983-09-02 1987-12-10 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg, De
CN100349705C (zh) * 2002-02-06 2007-11-21 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
US20130218338A1 (en) * 2009-07-06 2013-08-22 Seiko Epson Corporation Position control method and robot
CN103659799A (zh) * 2012-08-31 2014-03-26 精工爱普生株式会社 机器人
US20140205416A1 (en) * 2013-01-18 2014-07-24 Persimmon Technologies Corp. Robot Having Arm with Unequal Link Lengths
CN104097199A (zh) * 2013-04-10 2014-10-15 精工爱普生株式会社 机器人、机器人控制装置以及机器人系统

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113442128A (zh) * 2020-03-27 2021-09-28 财团法人工业技术研究院 减低机械手臂振动的方法
CN113442128B (zh) * 2020-03-27 2022-11-01 财团法人工业技术研究院 减低机械手臂振动的方法
US11577389B2 (en) 2020-03-27 2023-02-14 Industrial Technology Research Institute Method for reducing vibration of robot arm
CN116175531A (zh) * 2021-11-26 2023-05-30 精工爱普生株式会社 机械臂及机器人系统

Also Published As

Publication number Publication date
JP2017087301A (ja) 2017-05-25
US20170120444A1 (en) 2017-05-04

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Application publication date: 20170613