CN107614209A - 机器人装置及步进马达控制装置 - Google Patents

机器人装置及步进马达控制装置 Download PDF

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Publication number
CN107614209A
CN107614209A CN201680030783.5A CN201680030783A CN107614209A CN 107614209 A CN107614209 A CN 107614209A CN 201680030783 A CN201680030783 A CN 201680030783A CN 107614209 A CN107614209 A CN 107614209A
Authority
CN
China
Prior art keywords
trajectory
point
misalignment
command value
joint
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
CN201680030783.5A
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English (en)
Chinese (zh)
Inventor
尹祐根
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.)
Life Robotics Inc
Original Assignee
Life Robotics 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 Life Robotics Inc filed Critical Life Robotics Inc
Publication of CN107614209A publication Critical patent/CN107614209A/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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • G05B2219/40512—Real time path planning, trajectory generation
    • 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
    • G05B2219/40516—Replanning
    • 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
    • G05B2219/40519—Motion, trajectory planning
    • 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
    • Y10S901/19—Drive system for arm
    • Y10S901/23—Electric motor
    • Y10S901/24—Stepper motor

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN201680030783.5A 2015-05-28 2016-05-15 机器人装置及步进马达控制装置 Pending CN107614209A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2015-108688 2015-05-28
JP2015108688A JP6659238B2 (ja) 2015-05-28 2015-05-28 ロボット装置及びステッピングモータ制御装置
PCT/JP2016/064403 WO2016190140A1 (ja) 2015-05-28 2016-05-15 ロボット装置及びステッピングモータ制御装置

Publications (1)

Publication Number Publication Date
CN107614209A true CN107614209A (zh) 2018-01-19

Family

ID=57393896

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680030783.5A Pending CN107614209A (zh) 2015-05-28 2016-05-15 机器人装置及步进马达控制装置

Country Status (6)

Country Link
US (1) US20180079077A1 (enExample)
EP (1) EP3305478A4 (enExample)
JP (1) JP6659238B2 (enExample)
CN (1) CN107614209A (enExample)
TW (1) TW201702030A (enExample)
WO (1) WO2016190140A1 (enExample)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109861599A (zh) * 2019-03-25 2019-06-07 北京美联泰科生物技术有限公司 电机控制方法
CN110154089A (zh) * 2018-02-14 2019-08-23 发那科株式会社 机器人的关节的异常检测装置以及异常检测方法
CN113315425A (zh) * 2021-07-28 2021-08-27 深圳市永达电子信息股份有限公司 步进电机定位方法、系统、设备及存储介质
TWI766807B (zh) * 2021-09-17 2022-06-01 財團法人精密機械研究發展中心 機械手臂的安全復位方法
CN114845841A (zh) * 2019-10-09 2022-08-02 川崎重工业株式会社 控制方法、控制装置、机器人系统、程序及记录介质

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6468804B2 (ja) * 2014-10-30 2019-02-13 ライフロボティクス株式会社 ロボットアーム機構
JP2018051635A (ja) * 2016-09-26 2018-04-05 セイコーエプソン株式会社 ロボット制御装置、ロボットおよびロボットシステム
JP7007839B2 (ja) * 2017-08-31 2022-01-25 川崎重工業株式会社 多関節ロボット
JP7310963B2 (ja) * 2019-03-22 2023-07-19 オムロン株式会社 ロボットハンド、ロボットハンド制御方法及びプログラム
CN114728412B (zh) * 2019-11-19 2024-07-16 谷歌有限责任公司 使用视觉数据的机器人的运动路径的优化
US12290932B2 (en) * 2020-07-10 2025-05-06 Fanuc Corporation Trajectory generation device and automatic position control device

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US5426722A (en) * 1993-09-09 1995-06-20 Stratasys, Inc. Method for optimizing the motion of a multi-axis robot

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FR2671305B1 (fr) * 1991-01-09 1995-04-07 Commissariat Energie Atomique Procede de pilotage d'un bras de robot en definissant des trajets de substitution.
US6212968B1 (en) * 1998-07-29 2001-04-10 Janome Sewing Machine Co., Ltd, SCARA robot
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US6278907B1 (en) * 1999-11-24 2001-08-21 Xerox Corporation Apparatus and method of distributing object handling
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WO2006102517A2 (en) * 2005-03-23 2006-09-28 Hurco Companies, Inc. Method of tolerance-based trajectory planning and control
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US8810187B2 (en) * 2011-08-19 2014-08-19 Oriental Motor Boston Technology Group Incorporated Method and apparatus for misstep detection and recovery in a stepper motor
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US5426722A (en) * 1993-09-09 1995-06-20 Stratasys, Inc. Method for optimizing the motion of a multi-axis robot

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110154089A (zh) * 2018-02-14 2019-08-23 发那科株式会社 机器人的关节的异常检测装置以及异常检测方法
CN109861599A (zh) * 2019-03-25 2019-06-07 北京美联泰科生物技术有限公司 电机控制方法
CN114845841A (zh) * 2019-10-09 2022-08-02 川崎重工业株式会社 控制方法、控制装置、机器人系统、程序及记录介质
CN114845841B (zh) * 2019-10-09 2024-02-06 川崎重工业株式会社 控制方法、控制装置、机器人系统、程序及记录介质
CN113315425A (zh) * 2021-07-28 2021-08-27 深圳市永达电子信息股份有限公司 步进电机定位方法、系统、设备及存储介质
TWI766807B (zh) * 2021-09-17 2022-06-01 財團法人精密機械研究發展中心 機械手臂的安全復位方法

Also Published As

Publication number Publication date
WO2016190140A1 (ja) 2016-12-01
JP6659238B2 (ja) 2020-03-04
EP3305478A4 (en) 2019-01-23
JP2016221606A (ja) 2016-12-28
US20180079077A1 (en) 2018-03-22
TW201702030A (zh) 2017-01-16
EP3305478A1 (en) 2018-04-11

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