CN108687758B - 机器人的移动速度控制装置及方法 - Google Patents

机器人的移动速度控制装置及方法 Download PDF

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Publication number
CN108687758B
CN108687758B CN201810245956.6A CN201810245956A CN108687758B CN 108687758 B CN108687758 B CN 108687758B CN 201810245956 A CN201810245956 A CN 201810245956A CN 108687758 B CN108687758 B CN 108687758B
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China
Prior art keywords
robot
arm
limit value
tip
movement speed
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English (en)
Chinese (zh)
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CN108687758A (zh
Inventor
金子实
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Nidec Instruments Corp
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Nidec Sankyo Corp
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Publication of CN108687758A publication Critical patent/CN108687758A/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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1651—Programme controls characterised by the control loop acceleration, rate 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • 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
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert 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
    • B25J9/1656—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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN201810245956.6A 2017-04-11 2018-03-23 机器人的移动速度控制装置及方法 Active CN108687758B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-078179 2017-04-11
JP2017078179A JP6904759B2 (ja) 2017-04-11 2017-04-11 ロボットの移動速度制御装置及び方法

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CN108687758A CN108687758A (zh) 2018-10-23
CN108687758B true CN108687758B (zh) 2022-04-05

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JP (1) JP6904759B2 (enExample)
KR (1) KR102033241B1 (enExample)
CN (1) CN108687758B (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7311971B2 (ja) * 2019-01-11 2023-07-20 株式会社Fuji ロボット制御装置及びロボット制御方法
CN111482982B (zh) * 2020-05-07 2021-12-21 宁波奥克斯电气股份有限公司 一种夹持机构及夹持机构的控制方法
KR20220088823A (ko) 2020-12-20 2022-06-28 정현재 이물질 제거가 용이한 청소용 솔
CN113116528B (zh) * 2021-04-15 2022-05-17 哈尔滨思哲睿智能医疗设备有限公司 一种腹腔镜手术机器人的滑台运动控制方法及装置
CN113771031B (zh) * 2021-09-07 2023-11-28 苏州艾利特机器人有限公司 一种机器人自适应调速方法及多关节机器人

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6092004A (en) * 1996-01-24 2000-07-18 Mitsubishi Denki Kabushiki Kaisha Robot speed computing apparatus and method
JP5550201B2 (ja) * 1999-05-28 2014-07-16 ブルックス オートメーション インコーポレイテッド 時間最適アーム動作を生成する方法
JP2015123517A (ja) * 2013-12-25 2015-07-06 川崎重工業株式会社 動作プログラム作成方法およびロボットの制御方法
CN105437235A (zh) * 2016-01-25 2016-03-30 珠海格力电器股份有限公司 一种奇异点区域减速保护方法、系统和工业机器人
CN105922256A (zh) * 2015-02-26 2016-09-07 发那科株式会社 自动切换机器人的动作模式的机器人控制装置

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05233052A (ja) 1992-02-20 1993-09-10 Tokico Ltd ロボットの教示装置
JPH0691587A (ja) 1992-09-08 1994-04-05 Amada Co Ltd 産業用ロボットの非常停止方法および装置
JPH09193060A (ja) * 1996-01-16 1997-07-29 Honda Motor Co Ltd ティーチング時のロボットの移動速度制御装置
JP2002127060A (ja) * 2000-10-23 2002-05-08 Matsushita Electric Ind Co Ltd ロボット装置
JP4513568B2 (ja) 2002-07-18 2010-07-28 株式会社安川電機 ロボット制御装置
JP5365524B2 (ja) * 2007-12-07 2013-12-11 株式会社安川電機 ロボット動作規制方法およびロボットシステム
JP5970880B2 (ja) * 2012-03-15 2016-08-17 オムロン株式会社 動力源の制御装置
JP6238628B2 (ja) * 2013-08-06 2017-11-29 キヤノン株式会社 ロボット装置、ロボット制御方法、ロボット制御プログラム及びロボット装置を用いた部品の製造方法
TWI592265B (zh) * 2014-06-25 2017-07-21 Hiwin Tech Corp Safety control method of mechanical arm
JP6476635B2 (ja) * 2014-08-01 2019-03-06 株式会社デンソーウェーブ ロボットの制御装置及び制御方法
CN104440954B (zh) * 2014-10-30 2016-01-20 青岛立邦达机器人系统有限公司 一种搬运机器人防碰撞安全保护系统

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6092004A (en) * 1996-01-24 2000-07-18 Mitsubishi Denki Kabushiki Kaisha Robot speed computing apparatus and method
JP5550201B2 (ja) * 1999-05-28 2014-07-16 ブルックス オートメーション インコーポレイテッド 時間最適アーム動作を生成する方法
JP2015123517A (ja) * 2013-12-25 2015-07-06 川崎重工業株式会社 動作プログラム作成方法およびロボットの制御方法
CN105922256A (zh) * 2015-02-26 2016-09-07 发那科株式会社 自动切换机器人的动作模式的机器人控制装置
CN105437235A (zh) * 2016-01-25 2016-03-30 珠海格力电器股份有限公司 一种奇异点区域减速保护方法、系统和工业机器人

Also Published As

Publication number Publication date
KR20180114837A (ko) 2018-10-19
JP2018176341A (ja) 2018-11-15
JP6904759B2 (ja) 2021-07-21
KR102033241B1 (ko) 2019-10-16
CN108687758A (zh) 2018-10-23

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