CN106994680B - 机器人以及机器人系统 - Google Patents

机器人以及机器人系统 Download PDF

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Publication number
CN106994680B
CN106994680B CN201610874545.4A CN201610874545A CN106994680B CN 106994680 B CN106994680 B CN 106994680B CN 201610874545 A CN201610874545 A CN 201610874545A CN 106994680 B CN106994680 B CN 106994680B
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China
Prior art keywords
robot
connector
capacitor
pin
hole
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CN201610874545.4A
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English (en)
Chinese (zh)
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CN106994680A (zh
Inventor
小林正一
小岛嗣也
宫坂正辉
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Seiko Epson Corp
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Seiko Epson Corp
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Publication of CN106994680A publication Critical patent/CN106994680A/zh
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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
    • B25J9/0081—Program-controlled manipulators with leader teach-in means
    • 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
    • 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
    • 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
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40031—Dual peg in hole
    • 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
    • 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)
CN201610874545.4A 2015-11-26 2016-09-30 机器人以及机器人系统 Active CN106994680B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015231047A JP6693098B2 (ja) 2015-11-26 2015-11-26 ロボット、及びロボットシステム
JP2015-231047 2015-11-26

Publications (2)

Publication Number Publication Date
CN106994680A CN106994680A (zh) 2017-08-01
CN106994680B true CN106994680B (zh) 2021-09-24

Family

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Family Applications (1)

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CN201610874545.4A Active CN106994680B (zh) 2015-11-26 2016-09-30 机器人以及机器人系统

Country Status (4)

Country Link
US (1) US10399221B2 (https=)
EP (1) EP3173193B1 (https=)
JP (1) JP6693098B2 (https=)
CN (1) CN106994680B (https=)

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US9962834B2 (en) * 2015-06-17 2018-05-08 The Boeing Company Compliant end effectors, robots that include compliant end effectors, and methods of utilizing the same
CN106945034B (zh) * 2016-01-07 2021-09-03 鸿富锦精密电子(郑州)有限公司 机器人点位调节方法与系统
CN111757796B (zh) * 2018-02-23 2023-09-29 仓敷纺绩株式会社 线状物的前端移动方法、控制装置以及三维照相机
JP6848903B2 (ja) * 2018-03-08 2021-03-24 オムロン株式会社 部品挿入装置、部品挿入方法、およびプログラム
JP7275488B2 (ja) * 2018-07-24 2023-05-18 セイコーエプソン株式会社 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
JP7225725B2 (ja) * 2018-11-16 2023-02-21 セイコーエプソン株式会社 ロボットシステムおよび挿入方法
US11433534B2 (en) * 2019-03-07 2022-09-06 Abb Schweiz Ag Robotic arm including edge computer and cabling arrangement facilitating flexible function advanced distal arm end tooling
JP7351667B2 (ja) * 2019-08-01 2023-09-27 ファナック株式会社 複数点嵌合を行うロボット制御システム、制御方法、コンピュータのプログラム、および制御装置
US11701776B2 (en) 2019-10-25 2023-07-18 Dexterity, Inc. Robotic kitting machine
WO2021144935A1 (ja) 2020-01-16 2021-07-22 オムロン株式会社 制御装置、制御方法、及び制御プログラム
US11318611B2 (en) * 2020-04-14 2022-05-03 Fanuc Corporation Multi center impedance control
JP7524689B2 (ja) * 2020-09-14 2024-07-30 セイコーエプソン株式会社 作業時間提示方法、力制御パラメーター設定方法、ロボットシステムおよび作業時間提示プログラム

Citations (8)

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US5566436A (en) * 1992-04-14 1996-10-22 Hirata Corporation Method of inserting machine parts into a workpiece
EP1052072A1 (en) * 1997-10-22 2000-11-15 Fanuc Ltd. Force controlling robot and fitting/drawing method using the force controlling robot
CN101116968A (zh) * 2007-09-06 2008-02-06 上海交通大学 六维力传感器装配机械手姿态及力的控制方法
CN102649169A (zh) * 2011-02-22 2012-08-29 波音公司 用于末端执行器夹具的力和常态传感
CN103128731A (zh) * 2013-03-14 2013-06-05 中国科学院自动化研究所 微装配机器人系统
CN103507071A (zh) * 2012-06-20 2014-01-15 株式会社安川电机 机器人系统和用于制造装配件的方法
CN104057290A (zh) * 2014-06-24 2014-09-24 中国科学院自动化研究所 一种基于视觉和力反馈控制的机器人装配方法与系统
JP2015085501A (ja) * 2013-11-01 2015-05-07 セイコーエプソン株式会社 ロボット、ロボットシステム、及びロボット制御装置

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JPS62271689A (ja) * 1986-05-14 1987-11-25 オムロン株式会社 部品組込装置
US4745681A (en) * 1987-04-22 1988-05-24 International Business Machines Corporation Controlled pin insertion using airflow sensing and active feedback
JP4093004B2 (ja) 2002-09-27 2008-05-28 株式会社デンソー コネクタの挿入装置及び方法
US7181314B2 (en) * 2003-11-24 2007-02-20 Abb Research Ltd. Industrial robot with controlled flexibility and simulated force for automated assembly
JP5024689B2 (ja) * 2010-11-29 2012-09-12 株式会社Ｉｈｉ 組立ロボットとその制御方法
JP5693359B2 (ja) 2011-05-02 2015-04-01 三菱電機株式会社 検査装置及び検査方法
JP5892459B2 (ja) * 2011-08-25 2016-03-23 株式会社Ihi 組立ロボットとその制御方法
EP2749974A2 (en) 2012-12-28 2014-07-02 Kabushiki Kaisha Yaskawa Denki Robot teaching system, robot teaching assistant device, and robot teaching method
JP5962590B2 (ja) * 2013-05-31 2016-08-03 株式会社安川電機 ロボットシステムおよび被加工物の製造方法
CN108621156B (zh) * 2013-10-10 2021-08-03 精工爱普生株式会社 机器人控制装置、机器人系统、机器人以及机器人控制方法
JP2014166681A (ja) 2014-05-16 2014-09-11 Yaskawa Electric Corp ロボット教示システムおよびロボット教示方法
EP2990165A3 (en) * 2014-08-25 2016-06-29 Seiko Epson Corporation Robot for fitting an object in another

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5566436A (en) * 1992-04-14 1996-10-22 Hirata Corporation Method of inserting machine parts into a workpiece
EP1052072A1 (en) * 1997-10-22 2000-11-15 Fanuc Ltd. Force controlling robot and fitting/drawing method using the force controlling robot
CN101116968A (zh) * 2007-09-06 2008-02-06 上海交通大学 六维力传感器装配机械手姿态及力的控制方法
CN102649169A (zh) * 2011-02-22 2012-08-29 波音公司 用于末端执行器夹具的力和常态传感
CN103507071A (zh) * 2012-06-20 2014-01-15 株式会社安川电机 机器人系统和用于制造装配件的方法
CN103128731A (zh) * 2013-03-14 2013-06-05 中国科学院自动化研究所 微装配机器人系统
JP2015085501A (ja) * 2013-11-01 2015-05-07 セイコーエプソン株式会社 ロボット、ロボットシステム、及びロボット制御装置
CN104057290A (zh) * 2014-06-24 2014-09-24 中国科学院自动化研究所 一种基于视觉和力反馈控制的机器人装配方法与系统

Also Published As

Publication number Publication date
EP3173193A1 (en) 2017-05-31
EP3173193B1 (en) 2024-04-24
US20170151666A1 (en) 2017-06-01
CN106994680A (zh) 2017-08-01
JP6693098B2 (ja) 2020-05-13
JP2017094471A (ja) 2017-06-01
US10399221B2 (en) 2019-09-03

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