CN106945035B - 机器人控制设备及其控制方法和机器人系统 - Google Patents

机器人控制设备及其控制方法和机器人系统 Download PDF

Info

Publication number
CN106945035B
CN106945035B CN201610963497.6A CN201610963497A CN106945035B CN 106945035 B CN106945035 B CN 106945035B CN 201610963497 A CN201610963497 A CN 201610963497A CN 106945035 B CN106945035 B CN 106945035B
Authority
CN
China
Prior art keywords
target object
gripping
information
robot
posture
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.)
Active
Application number
CN201610963497.6A
Other languages
English (en)
Chinese (zh)
Other versions
CN106945035A (zh
Inventor
园田哲理
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.)
Canon Inc
Original Assignee
Canon Inc
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 Canon Inc filed Critical Canon Inc
Publication of CN106945035A publication Critical patent/CN106945035A/zh
Application granted granted Critical
Publication of CN106945035B publication Critical patent/CN106945035B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip 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
    • B25J9/1697—Vision controlled systems
    • 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
    • B25J9/1679—Programme 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • 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
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • 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
    • G05B2219/39102—Manipulator cooperating with conveyor
    • 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
    • G05B2219/40053—Pick 3-D object from pile of objects
    • 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
    • G05B2219/40555—Orientation and distance

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Image Analysis (AREA)
CN201610963497.6A 2015-11-06 2016-11-04 机器人控制设备及其控制方法和机器人系统 Active CN106945035B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015218215A JP6711591B2 (ja) 2015-11-06 2015-11-06 ロボット制御装置およびロボット制御方法
JP2015-218215 2015-11-06

Publications (2)

Publication Number Publication Date
CN106945035A CN106945035A (zh) 2017-07-14
CN106945035B true CN106945035B (zh) 2020-10-30

Family

ID=58668465

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610963497.6A Active CN106945035B (zh) 2015-11-06 2016-11-04 机器人控制设备及其控制方法和机器人系统

Country Status (4)

Country Link
US (1) US10695905B2 (enExample)
JP (1) JP6711591B2 (enExample)
KR (1) KR102086884B1 (enExample)
CN (1) CN106945035B (enExample)

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6589847B2 (ja) * 2016-12-26 2019-10-16 株式会社ダイフク 物品積載設備
JP6880457B2 (ja) * 2017-11-14 2021-06-02 オムロン株式会社 把持方法、把持システム及びプログラム
US11314220B2 (en) 2018-04-26 2022-04-26 Liberty Reach Inc. Non-contact method and system for controlling an industrial automation machine
JP7028092B2 (ja) * 2018-07-13 2022-03-02 オムロン株式会社 把持姿勢評価装置及び把持姿勢評価プログラム
US11312014B2 (en) * 2018-09-10 2022-04-26 Kindred Systems Inc. System and method for robotic gripping utilizing dynamic collision modeling for vacuum suction and finger control
JP7467041B2 (ja) * 2018-09-27 2024-04-15 キヤノン株式会社 情報処理装置、情報処理方法及びシステム
EP3646995A1 (de) 2018-10-29 2020-05-06 Siemens Aktiengesellschaft Vollautomatisierte montage und kontaktierung elektrischer bauteile
KR102650494B1 (ko) 2018-10-30 2024-03-22 무진 아이엔씨 자동화된 패키지 등록 시스템, 디바이스 및 방법
US10369701B1 (en) 2018-10-30 2019-08-06 Mujin, Inc. Automated package registration systems, devices, and methods
KR102619004B1 (ko) * 2018-12-14 2023-12-29 삼성전자 주식회사 로봇 장치 및 로봇의 작업 기술을 학습하는 방법
JP6810173B2 (ja) * 2019-01-29 2021-01-06 日本金銭機械株式会社 物体把持システム
NO345105B1 (en) * 2019-03-18 2020-09-28 Macgregor Norway As Multiaxial robotic arm
US10583560B1 (en) * 2019-04-03 2020-03-10 Mujin, Inc. Robotic system with object identification and handling mechanism and method of operation thereof
JP7391571B2 (ja) * 2019-08-28 2023-12-05 キヤノン株式会社 電子機器、その制御方法、プログラム、および記憶媒体
JP7023450B2 (ja) * 2019-12-12 2022-02-22 株式会社Mujin カメラによって生成される画像情報に基づいて、動作計画を実行する方法および計算システム
CN111470070B (zh) * 2020-05-09 2022-03-22 清华大学 一种空间非合作目标无接触消旋辨识装置及方法
CN112614181B (zh) * 2020-12-01 2024-03-22 深圳乐动机器人股份有限公司 一种基于高亮目标的机器人定位方法及装置
US12288355B2 (en) * 2021-05-27 2025-04-29 Fanuc Corporation Imaging device for calculating three-dimensional position on the basis of image captured by visual sensor
CN113344108B (zh) * 2021-06-25 2024-10-29 视比特(长沙)机器人科技有限公司 一种商品识别与姿态估计方法及装置
US12290944B2 (en) 2021-08-09 2025-05-06 Mujin, Inc. Robotic system with image-based sizing mechanism and methods for operating the same
KR102473296B1 (ko) * 2021-08-17 2022-12-02 박광중 픽앤플레이스 모니터링 방법, 그의 제어 장치 및 시스템
KR102791561B1 (ko) * 2021-08-19 2025-04-08 한국전자통신연구원 자동 객체 위치 인식 방법 및 장치
US12290933B2 (en) 2021-08-19 2025-05-06 Electronics And Telecommunications Research Institute Method and apparatus for automatically recognizing location of object
US20240383151A1 (en) * 2022-01-27 2024-11-21 Kyocera Corporation Estimation device, estimation method, and control device
KR102692665B1 (ko) * 2022-06-16 2024-08-05 주식회사 현대케피코 부족구동 손가락 모듈을 포함하는 그리퍼, 그리고 그리퍼의 굽힘 동작을 제어하는 방법

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101360588A (zh) * 2006-02-02 2009-02-04 株式会社安川电机 机器人系统
CN101842195A (zh) * 2007-10-29 2010-09-22 佳能株式会社 把持设备和把持设备控制方法
CN103678754A (zh) * 2012-08-28 2014-03-26 佳能株式会社 信息处理装置及信息处理方法

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04109815U (ja) * 1991-02-28 1992-09-24 ダイキン工業株式会社 部品供給装置
JP3314890B2 (ja) 1993-04-23 2002-08-19 澁谷工業株式会社 物品整列装置
JP3805310B2 (ja) 2003-01-30 2006-08-02 ファナック株式会社 ワーク取出し装置
WO2005099417A2 (en) * 2004-04-12 2005-10-27 Strider Labs, Inc. System and method for computing grasps for a robotic hand with a palm
JP4481291B2 (ja) * 2006-12-01 2010-06-16 本田技研工業株式会社 ロボット、ならびにその制御方法および制御プログラム
JP4316630B2 (ja) * 2007-03-29 2009-08-19 本田技研工業株式会社 ロボット、ロボットの制御方法およびロボットの制御プログラム
WO2012153629A1 (ja) * 2011-05-12 2012-11-15 株式会社Ihi 運動予測制御装置と方法
JP2013046937A (ja) * 2011-08-29 2013-03-07 Dainippon Screen Mfg Co Ltd 対象物把持装置および対象物把持方法および対象物把持プログラム
US9014857B2 (en) * 2012-01-13 2015-04-21 Toyota Motor Engineering & Manufacturing North America, Inc. Methods and computer-program products for generating grasp patterns for use by a robot
JP5426719B2 (ja) * 2012-05-18 2014-02-26 ファナック株式会社 ロボットシステムの動作シミュレーション装置
US8996175B2 (en) * 2012-06-21 2015-03-31 Rethink Robotics, Inc. Training and operating industrial robots
DE102012013022A1 (de) * 2012-06-29 2014-04-24 Liebherr-Verzahntechnik Gmbh Vorrichtung zur automatisierten Handhabung von Werkstücken
JP2014240106A (ja) * 2013-06-12 2014-12-25 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の駆動方法
JP5905549B1 (ja) * 2014-09-16 2016-04-20 ファナック株式会社 バラ積みされた物品を取出す物品取出装置
JP6529302B2 (ja) * 2015-03-24 2019-06-12 キヤノン株式会社 情報処理装置、情報処理方法、プログラム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101360588A (zh) * 2006-02-02 2009-02-04 株式会社安川电机 机器人系统
CN101842195A (zh) * 2007-10-29 2010-09-22 佳能株式会社 把持设备和把持设备控制方法
CN103678754A (zh) * 2012-08-28 2014-03-26 佳能株式会社 信息处理装置及信息处理方法

Also Published As

Publication number Publication date
US20170129101A1 (en) 2017-05-11
US10695905B2 (en) 2020-06-30
CN106945035A (zh) 2017-07-14
JP6711591B2 (ja) 2020-06-17
JP2017087326A (ja) 2017-05-25
KR102086884B1 (ko) 2020-03-09
KR20170053585A (ko) 2017-05-16

Similar Documents

Publication Publication Date Title
CN106945035B (zh) 机器人控制设备及其控制方法和机器人系统
JP6396516B2 (ja) 視覚センサのキャリブレーション装置、方法及びプログラム
JP5612916B2 (ja) 位置姿勢計測装置、その処理方法、プログラム、ロボットシステム
US9607244B2 (en) Image processing device, system, image processing method, and image processing program
CN112347837B (zh) 图像处理系统
KR20140008262A (ko) 로봇 시스템, 로봇, 로봇 제어 장치, 로봇 제어 방법 및 로봇 제어 프로그램
JP2020047049A (ja) 画像処理装置及び画像処理方法
JP7161857B2 (ja) 情報処理装置、情報処理方法、及びプログラム
US20180260661A1 (en) Image processing apparatus, image processing method, and image processing program
CN113902721A (zh) 一种工件位置的调整方法、控制处理装置及调整系统
CN112109069A (zh) 机器人示教装置以及机器人系统
JP2009216503A (ja) 三次元位置姿勢計測方法および装置
WO2019093299A1 (ja) 位置情報取得装置およびそれを備えたロボット制御装置
JP6838833B2 (ja) 把持装置、把持方法、及びプログラム
JP5083715B2 (ja) 三次元位置姿勢計測方法および装置
JP2010184300A (ja) 姿勢変更システムおよび姿勢変更方法
JP2018017610A (ja) 三次元計測装置、ロボット、ロボット制御装置、及びロボットシステム
JP6265784B2 (ja) 姿勢推定システム、プログラムおよび姿勢推定方法
JP6836628B2 (ja) ピッキングまたはデバンニング用対象物認識装置、ピッキングまたはデバンニング用対象物認識方法、ならびにプログラム
JP6179267B2 (ja) 画像処理装置、ロボット制御システム、画像処理方法及びプログラム
JP6042289B2 (ja) 姿勢推定装置、姿勢推定方法およびプログラム
CN120787355A (zh) 示教数据生成装置、示教数据生成程序以及示教数据生成方法
US20190061152A1 (en) Measuring method, program, measuring apparatus and method of manufacturing article
JP2024032411A (ja) 特徴量生成方法
CN116137062A (zh) 生成训练数据的方法、系统以及存储介质

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant