CN107363830B - 机器人控制装置、机器人以及机器人系统 - Google Patents

机器人控制装置、机器人以及机器人系统 Download PDF

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Publication number
CN107363830B
CN107363830B CN201710156616.1A CN201710156616A CN107363830B CN 107363830 B CN107363830 B CN 107363830B CN 201710156616 A CN201710156616 A CN 201710156616A CN 107363830 B CN107363830 B CN 107363830B
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China
Prior art keywords
robot
coordinate system
control
axis
teaching point
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CN201710156616.1A
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English (en)
Chinese (zh)
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CN107363830A (zh
Inventor
竹内馨
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Seiko Epson Corp
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Seiko Epson Corp
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    • 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position 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
    • G05B2219/39343—Force based impedance 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
    • G05B2219/39348—Generalized impedance 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
    • G05B2219/39529—Force, torque sensor in wrist, 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40586—6-DOF force sensor

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN201710156616.1A 2016-03-18 2017-03-16 机器人控制装置、机器人以及机器人系统 Active CN107363830B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016054960A JP6746990B2 (ja) 2016-03-18 2016-03-18 ロボット制御装置及びロボットシステム
JP2016-054960 2016-03-18

Publications (2)

Publication Number Publication Date
CN107363830A CN107363830A (zh) 2017-11-21
CN107363830B true CN107363830B (zh) 2022-02-25

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US (1) US10377043B2 (enExample)
JP (1) JP6746990B2 (enExample)
CN (1) CN107363830B (enExample)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180021949A1 (en) * 2016-07-20 2018-01-25 Canon Kabushiki Kaisha Robot apparatus, robot controlling method, program, and recording medium
CN110612181B (zh) * 2017-02-17 2023-05-23 Abb瑞士股份有限公司 机器人引导通过编程期间控制工业机器人的方法和工业机器人
US10406685B1 (en) * 2017-04-20 2019-09-10 X Development Llc Robot end effector control
JP7020812B2 (ja) * 2017-07-19 2022-02-16 キヤノン株式会社 ロボット装置、ロボット装置の制御方法、ロボット装置を用いた物品の組立方法、制御プログラムおよび記録媒体
CN109093599A (zh) * 2018-09-07 2018-12-28 中科新松有限公司 一种抓取示教方法及系统
CN109465823B (zh) * 2018-11-06 2022-03-18 泰康保险集团股份有限公司 智能机器人控制方法及装置、电子设备、存储介质
JP6721922B1 (ja) 2019-04-23 2020-07-15 Ａｒｉｔｈｍｅｒ株式会社 指定データ生成装置、指定データ生成方法、および指定データ生成プログラム
JP7502439B2 (ja) * 2020-07-07 2024-06-18 ファナック株式会社 ロボット制御装置
EP4190511A4 (en) * 2020-12-03 2024-05-29 Samsung Electronics Co., Ltd. MANIPULATOR AND ITS CONTROL METHOD
US12427667B2 (en) * 2021-08-31 2025-09-30 Canon Kabushiki Kaisha Robot system, method for controlling robot system, method for manufacturing article using robot system, system, method for controlling system, and recording medium
WO2024020733A1 (zh) * 2022-07-25 2024-02-01 上海非夕机器人科技有限公司 机器人的遥操作方法、机器人及存储介质
US20250229418A1 (en) * 2023-06-08 2025-07-17 Shanghai Flexiv Robotics Technology Co., Ltd. Method, robot and storage medium for aligning robot end with target object

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1676287A (zh) * 2004-03-31 2005-10-05 发那科株式会社 机器人示教装置
JP4513071B2 (ja) * 1997-07-08 2010-07-28 株式会社安川電機 ロボットの制御装置
CN102310409A (zh) * 2010-07-05 2012-01-11 株式会社安川电机 机器人装置及基于机器人装置的把持方法
JP2015168017A (ja) * 2014-03-06 2015-09-28 セイコーエプソン株式会社 ロボット、ロボットシステム、及び制御装置

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60205717A (ja) 1984-03-30 1985-10-17 Toshiba Seiki Kk ロボツトの位置決め制御方法
JP2505394B2 (ja) 1992-09-17 1996-06-05 川崎重工業株式会社 産業用ロボットの加速度変化を利用した制御方法
JP3366248B2 (ja) 1998-03-30 2003-01-14 松下電器産業株式会社 ロボットの制御方法および装置
JP4483047B2 (ja) * 2000-08-14 2010-06-16 株式会社安川電機 ロボットの制御装置
CN100561491C (zh) * 2005-02-25 2009-11-18 Abb研究有限公司 自动路径学习的方法和设备
JP4267027B2 (ja) * 2006-12-07 2009-05-27 ファナック株式会社 ロボット制御装置
JP4271249B2 (ja) * 2007-06-14 2009-06-03 ファナック株式会社 嵌合装置
ES2529375B1 (es) * 2013-07-15 2015-06-02 Kiro Robotics, S.L. Método de control del accionamiento de un brazo robótico y brazo robótico que utiliza dicho método
JP5893664B2 (ja) * 2014-04-14 2016-03-23 ファナック株式会社 作用された力に応じて移動されるロボットを制御するロボット制御装置
JP5820013B1 (ja) * 2014-04-30 2015-11-24 ファナック株式会社 ワークを把持して搬送するロボットの安全監視装置
JP2015217486A (ja) * 2014-05-19 2015-12-07 富士通株式会社 判定装置、判定方法、および判定プログラム
JP6460690B2 (ja) * 2014-09-16 2019-01-30 キヤノン株式会社 ロボット装置、ロボット制御方法、プログラム及び記録媒体

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4513071B2 (ja) * 1997-07-08 2010-07-28 株式会社安川電機 ロボットの制御装置
CN1676287A (zh) * 2004-03-31 2005-10-05 发那科株式会社 机器人示教装置
CN102310409A (zh) * 2010-07-05 2012-01-11 株式会社安川电机 机器人装置及基于机器人装置的把持方法
JP2015168017A (ja) * 2014-03-06 2015-09-28 セイコーエプソン株式会社 ロボット、ロボットシステム、及び制御装置

Also Published As

Publication number Publication date
JP2017164877A (ja) 2017-09-21
JP6746990B2 (ja) 2020-08-26
US20170266816A1 (en) 2017-09-21
CN107363830A (zh) 2017-11-21
US10377043B2 (en) 2019-08-13

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