CN108161986A - 控制机器人臂的设备和方法 - Google Patents
控制机器人臂的设备和方法 Download PDFInfo
- Publication number
- CN108161986A CN108161986A CN201710536444.0A CN201710536444A CN108161986A CN 108161986 A CN108161986 A CN 108161986A CN 201710536444 A CN201710536444 A CN 201710536444A CN 108161986 A CN108161986 A CN 108161986A
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- image
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- robots arm
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Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000003384 imaging method Methods 0.000 claims abstract description 88
- 238000005259 measurement Methods 0.000 claims abstract description 70
- 238000004092 self-diagnosis Methods 0.000 claims abstract description 45
- 230000004044 response Effects 0.000 claims abstract description 38
- 238000004891 communication Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 6
- 241000208340 Araliaceae Species 0.000 claims description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 2
- 235000008434 ginseng Nutrition 0.000 claims description 2
- 230000006870 function Effects 0.000 description 13
- 230000008859 change Effects 0.000 description 8
- 238000012545 processing Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 3
- 230000000246 remedial effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- B25J19/0095—Means or methods for testing 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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
-
- 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
- B25J9/1692—Calibration of manipulator
-
- 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
- B25J13/089—Determining the position of the robot with reference to its environment
-
- 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
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-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
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- 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
- G05B2219/39045—Camera on end effector detects reference pattern
-
- 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
- G05B2219/39046—Compare image of plate on robot with reference, move till coincidence, camera
-
- 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
- G05B2219/39413—Robot self diagnostics
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (20)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2016-0166211 | 2016-12-07 | ||
KR1020160166211A KR101864329B1 (ko) | 2016-12-07 | 2016-12-07 | 로봇 암 제어 시스템 및 방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108161986A true CN108161986A (zh) | 2018-06-15 |
CN108161986B CN108161986B (zh) | 2022-07-12 |
Family
ID=62240338
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710536444.0A Active CN108161986B (zh) | 2016-12-07 | 2017-07-04 | 控制机器人臂的设备和方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10471601B2 (zh) |
KR (1) | KR101864329B1 (zh) |
CN (1) | CN108161986B (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110024734A (zh) * | 2018-11-05 | 2019-07-19 | 友达光电股份有限公司 | 水中生物展示结构与水中生物展示方法 |
CN112045682A (zh) * | 2020-09-02 | 2020-12-08 | 亿嘉和科技股份有限公司 | 一种固态面阵激光安装的标定方法 |
CN112318503A (zh) * | 2020-10-26 | 2021-02-05 | 中国计量大学 | 一种机器人校准系统和校准方法 |
CN112428264A (zh) * | 2020-10-26 | 2021-03-02 | 中国计量大学 | 一种机器人臂的矫正方法及系统 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6915288B2 (ja) * | 2017-02-08 | 2021-08-04 | オムロン株式会社 | 画像処理システム、画像処理装置、FPGA(Field Programmable Gate Array)における回路の再構成方法、および、FPGAにおける回路の再構成プログラム |
JP6484287B2 (ja) * | 2017-05-19 | 2019-03-13 | ファナック株式会社 | リニアガイドの損傷検知装置及び損傷検知方法 |
EP3844356A4 (en) * | 2018-08-29 | 2022-06-15 | Fastbrick IP Pty Ltd | GRIPPING DEVICE |
CN109719726B (zh) * | 2018-12-30 | 2021-08-20 | 芜湖哈特机器人产业技术研究院有限公司 | 一种机械臂手眼标定装置及方法 |
WO2020233777A1 (en) * | 2019-05-17 | 2020-11-26 | Telefonaktiebolaget Lm Ericsson (Publ) | Technique for parameter conversion between a robotic device and a controller for the robotic device |
CN114536404A (zh) * | 2022-03-01 | 2022-05-27 | 乐聚(深圳)机器人技术有限公司 | 基于机器人的测试方法、设备及存储介质 |
CN115519544B (zh) * | 2022-10-10 | 2023-12-15 | 深圳进化动力数码科技有限公司 | 一种生鲜分拣机器人抓取方法、装置、设备及存储介质 |
Citations (6)
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CN101529555A (zh) * | 2006-10-23 | 2009-09-09 | 赛博光学半导体公司 | 改进的衬底操作机械手校准 |
CN102785253A (zh) * | 2011-04-06 | 2012-11-21 | 发那科株式会社 | 具有机器人的异常检测功能的机器人系统及其控制方法 |
JP2015160257A (ja) * | 2014-02-26 | 2015-09-07 | セイコーエプソン株式会社 | ロボット、ロボットシステム、制御装置および制御方法 |
CN104968477A (zh) * | 2012-08-28 | 2015-10-07 | 睿信科机器人有限公司 | 监测机器人传感器的一致性 |
CN105522576A (zh) * | 2014-10-27 | 2016-04-27 | 广明光电股份有限公司 | 机器手臂自动再校正的方法 |
CN106061688A (zh) * | 2014-03-04 | 2016-10-26 | 优傲机器人公司 | 用于工业机器人的安全系统 |
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JPH1034571A (ja) | 1996-07-17 | 1998-02-10 | Meidensha Corp | ロボットの位置ずれ修正装置 |
US20080009764A1 (en) * | 2005-04-21 | 2008-01-10 | Epi-Sci, Llc | Method and system for detecting electrophysiological changes in pre-cancerous and cancerous tissue and epithelium |
JP2007152470A (ja) | 2005-12-02 | 2007-06-21 | Mitsubishi Heavy Ind Ltd | 自己診断機能付きロボット |
KR101408657B1 (ko) | 2007-12-18 | 2014-06-17 | 삼성전자주식회사 | 원격 제어 로봇 시스템의 사용자 인터페이스 장치 및 방법 |
WO2010053710A2 (en) * | 2008-10-29 | 2010-05-14 | Baker Hughes Incorporated | Method and apparatus for robotic welding of drill bits |
JP2011177845A (ja) * | 2010-03-02 | 2011-09-15 | Seiko Epson Corp | ロボットのキャリブレーション方法及びロボット用キャリブレーション装置 |
JP5573537B2 (ja) * | 2010-09-17 | 2014-08-20 | 株式会社デンソーウェーブ | ロボットのティーチングシステム |
JP5977544B2 (ja) * | 2012-03-09 | 2016-08-24 | キヤノン株式会社 | 情報処理装置、情報処理方法 |
JP5670416B2 (ja) * | 2012-12-28 | 2015-02-18 | ファナック株式会社 | ロボットシステム表示装置 |
JP2016021103A (ja) * | 2014-07-14 | 2016-02-04 | 株式会社ジャパンディスプレイ | 表示装置 |
-
2016
- 2016-12-07 KR KR1020160166211A patent/KR101864329B1/ko active IP Right Grant
-
2017
- 2017-05-24 US US15/603,559 patent/US10471601B2/en active Active
- 2017-07-04 CN CN201710536444.0A patent/CN108161986B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101529555A (zh) * | 2006-10-23 | 2009-09-09 | 赛博光学半导体公司 | 改进的衬底操作机械手校准 |
CN102785253A (zh) * | 2011-04-06 | 2012-11-21 | 发那科株式会社 | 具有机器人的异常检测功能的机器人系统及其控制方法 |
CN104968477A (zh) * | 2012-08-28 | 2015-10-07 | 睿信科机器人有限公司 | 监测机器人传感器的一致性 |
JP2015160257A (ja) * | 2014-02-26 | 2015-09-07 | セイコーエプソン株式会社 | ロボット、ロボットシステム、制御装置および制御方法 |
CN106061688A (zh) * | 2014-03-04 | 2016-10-26 | 优傲机器人公司 | 用于工业机器人的安全系统 |
CN105522576A (zh) * | 2014-10-27 | 2016-04-27 | 广明光电股份有限公司 | 机器手臂自动再校正的方法 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110024734A (zh) * | 2018-11-05 | 2019-07-19 | 友达光电股份有限公司 | 水中生物展示结构与水中生物展示方法 |
CN110024734B (zh) * | 2018-11-05 | 2021-08-03 | 友达光电股份有限公司 | 水中生物展示结构与水中生物展示方法 |
CN112045682A (zh) * | 2020-09-02 | 2020-12-08 | 亿嘉和科技股份有限公司 | 一种固态面阵激光安装的标定方法 |
CN112045682B (zh) * | 2020-09-02 | 2022-01-25 | 亿嘉和科技股份有限公司 | 一种固态面阵激光安装的标定方法 |
CN112318503A (zh) * | 2020-10-26 | 2021-02-05 | 中国计量大学 | 一种机器人校准系统和校准方法 |
CN112428264A (zh) * | 2020-10-26 | 2021-03-02 | 中国计量大学 | 一种机器人臂的矫正方法及系统 |
CN112428264B (zh) * | 2020-10-26 | 2021-12-07 | 中国计量大学 | 一种机器人臂的矫正方法及系统 |
Also Published As
Publication number | Publication date |
---|---|
CN108161986B (zh) | 2022-07-12 |
KR101864329B1 (ko) | 2018-06-05 |
US20180154523A1 (en) | 2018-06-07 |
US10471601B2 (en) | 2019-11-12 |
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CB02 | Change of applicant information |
Address after: Gyeongnam Changwon City, South Korea Applicant after: HANWHA AEROSPACE Co.,Ltd. Address before: Gyeongnam Changwon City, South Korea Applicant before: HANWHA TECHWIN Co.,Ltd. |
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Effective date of registration: 20190409 Address after: Gyeongnam Changwon City, South Korea Applicant after: Hanwha Precision Machinery Co.,Ltd. Address before: Gyeongnam Changwon City, South Korea Applicant before: HANWHA AEROSPACE Co.,Ltd. |
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Effective date of registration: 20210121 Address after: Han Guoshouershi Applicant after: Hanwha Corp. Address before: Gyeongnam Changwon City, South Korea Applicant before: Hanwha Precision Machinery Co.,Ltd. |
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Effective date of registration: 20231221 Address after: Gyeonggi Do city of South Korea Patentee after: Han Huajiqiren(zhu) Address before: Seoul City, Korea Patentee before: Hanwha Corp. |