CN109202960A - 机器人控制装置和机器人系统 - Google Patents

机器人控制装置和机器人系统 Download PDF

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Publication number
CN109202960A
CN109202960A CN201810674576.4A CN201810674576A CN109202960A CN 109202960 A CN109202960 A CN 109202960A CN 201810674576 A CN201810674576 A CN 201810674576A CN 109202960 A CN109202960 A CN 109202960A
Authority
CN
China
Prior art keywords
robot
checking device
force checking
robot controller
interface board
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
CN201810674576.4A
Other languages
English (en)
Chinese (zh)
Inventor
松本隆伸
斋藤英俊
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.)
Seiko Epson Corp
Original Assignee
Seiko Epson Corp
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 Seiko Epson Corp filed Critical Seiko Epson Corp
Publication of CN109202960A publication Critical patent/CN109202960A/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
    • 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
    • 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
    • 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
    • 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
    • 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
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37357—Force, pressure, weight or deflection

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
CN201810674576.4A 2017-06-29 2018-06-26 机器人控制装置和机器人系统 Pending CN109202960A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-127388 2017-06-29
JP2017127388A JP2019010683A (ja) 2017-06-29 2017-06-29 ロボット制御装置およびロボットシステム

Publications (1)

Publication Number Publication Date
CN109202960A true CN109202960A (zh) 2019-01-15

Family

ID=64734564

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810674576.4A Pending CN109202960A (zh) 2017-06-29 2018-06-26 机器人控制装置和机器人系统

Country Status (3)

Country Link
US (1) US20190001502A1 (enExample)
JP (1) JP2019010683A (enExample)
CN (1) CN109202960A (enExample)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111890415A (zh) * 2020-07-23 2020-11-06 唐山学院 一种机器人控制装置防护结构
CN112018669A (zh) * 2019-05-28 2020-12-01 国网江苏省电力有限公司徐州供电分公司 一种适合带电作业机器人操作的电缆压接工具
CN112008747A (zh) * 2019-05-28 2020-12-01 国网江苏省电力有限公司徐州供电分公司 一种适合带电作业机器人操作的电缆剪切工具

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5983286A (en) * 1997-11-06 1999-11-09 Hewlett-Packard Company Method and apparatus for setting a device parameter
US20020173925A1 (en) * 2001-03-30 2002-11-21 International Business Machines Corporation System for reducing distortion of signals transmitted over a bus
CN102837314A (zh) * 2011-06-24 2012-12-26 镇江华扬信息科技有限公司 一种开放式机器人控制器力位混合控制的方法
CN103466338A (zh) * 2013-09-11 2013-12-25 南京理工大学 自动码垛图书装置
US20140107843A1 (en) * 2012-05-23 2014-04-17 Panasonic Corporation Robot, robot control apparatus, robot control method, and robot control program
US20160140077A1 (en) * 2014-11-13 2016-05-19 Renesas Electronics Corporation Serial communication system, communication control unit, and electronic device

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009049180A (ja) * 2007-08-20 2009-03-05 Funai Electric Co Ltd ケーブル位置規制構造および液晶テレビジョン
CN105313127A (zh) * 2014-06-02 2016-02-10 精工爱普生株式会社 机器人、机器人的控制方法以及机器人的控制装置
JP6352802B2 (ja) * 2014-12-25 2018-07-04 Ｎｅｃプラットフォームズ株式会社 基板の抜去構造
JP6862081B2 (ja) * 2015-06-23 2021-04-21 キヤノン株式会社 ロボットシステムの制御方法、制御プログラム、コンピュータ読み取り可能な記録媒体、およびロボットシステム
US11160633B2 (en) * 2016-03-28 2021-11-02 Sony Olympus Medical Solutions Inc. Medical observation apparatus, driving control method, medical observation system, and support arm apparatus

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5983286A (en) * 1997-11-06 1999-11-09 Hewlett-Packard Company Method and apparatus for setting a device parameter
US20020173925A1 (en) * 2001-03-30 2002-11-21 International Business Machines Corporation System for reducing distortion of signals transmitted over a bus
CN102837314A (zh) * 2011-06-24 2012-12-26 镇江华扬信息科技有限公司 一种开放式机器人控制器力位混合控制的方法
US20140107843A1 (en) * 2012-05-23 2014-04-17 Panasonic Corporation Robot, robot control apparatus, robot control method, and robot control program
CN103466338A (zh) * 2013-09-11 2013-12-25 南京理工大学 自动码垛图书装置
US20160140077A1 (en) * 2014-11-13 2016-05-19 Renesas Electronics Corporation Serial communication system, communication control unit, and electronic device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112018669A (zh) * 2019-05-28 2020-12-01 国网江苏省电力有限公司徐州供电分公司 一种适合带电作业机器人操作的电缆压接工具
CN112008747A (zh) * 2019-05-28 2020-12-01 国网江苏省电力有限公司徐州供电分公司 一种适合带电作业机器人操作的电缆剪切工具
CN112008747B (zh) * 2019-05-28 2022-02-15 国网江苏省电力有限公司徐州供电分公司 一种适合带电作业机器人操作的电缆剪切工具
CN111890415A (zh) * 2020-07-23 2020-11-06 唐山学院 一种机器人控制装置防护结构

Also Published As

Publication number Publication date
US20190001502A1 (en) 2019-01-03
JP2019010683A (ja) 2019-01-24

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Application publication date: 20190115