CN109760028B - 水平多关节型机器人及其原点恢复方法 - Google Patents

水平多关节型机器人及其原点恢复方法 Download PDF

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Publication number
CN109760028B
CN109760028B CN201811256306.8A CN201811256306A CN109760028B CN 109760028 B CN109760028 B CN 109760028B CN 201811256306 A CN201811256306 A CN 201811256306A CN 109760028 B CN109760028 B CN 109760028B
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China
Prior art keywords
articulated robot
point
horizontal articulated
origin
arm
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CN201811256306.8A
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English (en)
Chinese (zh)
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CN109760028A (zh
Inventor
猪股徹也
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Nidec Instruments Corp
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Nidec Sankyo Corp
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Publication of CN109760028A publication Critical patent/CN109760028A/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
    • B25J9/1656—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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • 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
    • 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
    • G05B19/00—Programme-control systems
    • 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
    • G05B2219/40224—If robot gets a return signal, go to initial condition position
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50102—Store history of operation, after power failure, restart from history, journal
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50111—Retract tool along path, reengage along same path

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
CN201811256306.8A 2017-11-09 2018-10-26 水平多关节型机器人及其原点恢复方法 Active CN109760028B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-216581 2017-11-09
JP2017216581A JP6914811B2 (ja) 2017-11-09 2017-11-09 水平多関節型ロボット及びその原点復帰方法

Publications (2)

Publication Number Publication Date
CN109760028A CN109760028A (zh) 2019-05-17
CN109760028B true CN109760028B (zh) 2023-02-28

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US (1) US11407108B2 (enExample)
JP (1) JP6914811B2 (enExample)
CN (1) CN109760028B (enExample)

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* Cited by examiner, † Cited by third party
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JP7199073B2 (ja) * 2017-10-20 2023-01-05 株式会社キーレックス 垂直多関節ロボットの教示データ作成システム
JP6962790B2 (ja) * 2017-11-09 2021-11-05 日本電産サンキョー株式会社 ワーク搬送システム及びその制御方法
CN110815226B (zh) * 2019-11-15 2022-03-01 四川长虹电器股份有限公司 一种机器人任意姿态任意位置下回初始位置的方法
CN111195913A (zh) * 2020-01-13 2020-05-26 珠海格力电器股份有限公司 机器人处理方法、装置及工业机器人
DE112020006647B4 (de) 2020-01-30 2024-05-23 Mitsubishi Electric Corporation Ursprungsrückführvorrichtung
KR20210116240A (ko) * 2020-03-11 2021-09-27 에이에스엠 아이피 홀딩 비.브이. 조절성 접합부를 갖는 기판 핸들링 장치
JP7524573B2 (ja) * 2020-03-25 2024-07-30 オムロン株式会社 制御装置、制御装置の制御方法、情報処理プログラム、および記録媒体
CN111823231B (zh) * 2020-06-19 2021-07-02 浙江大学 一种使用机械臂完成不可重复覆盖任务抬起次数最少的方法
CN112060091B (zh) * 2020-09-04 2022-02-22 苏州华兴源创科技股份有限公司 机器人回原点的方法、装置、机器人和存储介质
CN114661038B (zh) * 2020-12-22 2024-09-24 北京配天技术有限公司 一种机器人回程序原点控制方法、装置及相关组件
CN113021352A (zh) * 2021-03-25 2021-06-25 浙江大学 一种使用非冗余机械臂抬起最少次数完成流水线上物体表面不可重复覆盖任务的方法
CN113103231B (zh) * 2021-03-31 2024-12-24 北京北方华创微电子装备有限公司 机械手归位方法及半导体热处理设备
JP7628048B2 (ja) * 2021-04-01 2025-02-07 ニデックインスツルメンツ株式会社 ワーク搬送システム及びその制御方法
CN113232018B (zh) * 2021-04-27 2022-05-10 成都飞机工业（集团）有限责任公司 一种机器人姿态快速复位的方法
CN113721639B (zh) * 2021-08-31 2024-03-15 哈尔滨工程大学 一种用于小型水下机器人入坞的路径规划方法及控制方法
CN115922686B (zh) * 2021-09-23 2024-10-01 库卡机器人制造（上海）有限公司 机器人及其控制方法、控制装置和计算机可读存储介质
US12186910B2 (en) * 2022-02-25 2025-01-07 Denso Wave Incorporated Device for controlling return of robot to origin thereof, and method of searching return path of robot to origin thereof
DE102022104586B3 (de) 2022-02-25 2023-02-16 Denso Wave Incorporated Vorrichtung für das Steuern einer Rückführung eines Roboters zu seinem Ursprung und Verfahren zum Suchen eines Rückführungspfads des Roboters zu seinem Ursprung
CN114670206A (zh) * 2022-05-07 2022-06-28 法奥意威(苏州)机器人系统有限公司 机器人控制方法、装置、协作机器人和存储介质
CN115256399B (zh) * 2022-08-26 2025-05-13 上海工程技术大学 一种用于移动机械臂的低自由度目标搜寻及到达控制方法
CN116277027A (zh) * 2023-04-23 2023-06-23 湖南华源智能装备有限公司 工业机器人码垛方法、装置、工业机器人和存储介质
CN119858158A (zh) * 2024-12-31 2025-04-22 成都卡诺普机器人技术股份有限公司 工业机器人零位恢复方法、装置、工业机器人及存储介质

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TW200642812A (en) * 2005-04-11 2006-12-16 Nidec Sankyo Corp Articulated robot
CN101454125A (zh) * 2006-11-27 2009-06-10 日本电产三协株式会社 工件输送系统
CN103068534A (zh) * 2011-04-27 2013-04-24 日本电产三协株式会社 旋转机构、工业用机器人及旋转体的原点位置复位方法
CN104136174A (zh) * 2012-08-09 2014-11-05 日本电产三协株式会社 工业用机器人
JP2015156906A (ja) * 2014-02-21 2015-09-03 オリンパス株式会社 マニピュレータの初期化方法、マニピュレータ、およびマニピュレータシステム

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JPH04167102A (ja) 1990-10-31 1992-06-15 Suzuki Motor Corp ロボットの原点復帰方法
JPH0588720A (ja) * 1991-09-27 1993-04-09 Yaskawa Electric Corp ロボツトの原点位置復帰制御方法とその装置
JP2009090383A (ja) * 2007-10-04 2009-04-30 Nidec Sankyo Corp ロボットの原点復帰方法
JP5504641B2 (ja) * 2009-02-13 2014-05-28 株式会社安川電機 基板搬送用ロボット及びそれを備えた基板搬送装置、半導体製造装置
US8340820B2 (en) * 2010-02-26 2012-12-25 Agilent Technologies, Inc. Robot arm and method of controlling robot arm to avoid collisions
JP6284877B2 (ja) 2014-12-25 2018-02-28 トヨタ紡織株式会社 乗物用シート

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW200642812A (en) * 2005-04-11 2006-12-16 Nidec Sankyo Corp Articulated robot
CN101454125A (zh) * 2006-11-27 2009-06-10 日本电产三协株式会社 工件输送系统
CN103068534A (zh) * 2011-04-27 2013-04-24 日本电产三协株式会社 旋转机构、工业用机器人及旋转体的原点位置复位方法
CN104136174A (zh) * 2012-08-09 2014-11-05 日本电产三协株式会社 工业用机器人
JP2015156906A (ja) * 2014-02-21 2015-09-03 オリンパス株式会社 マニピュレータの初期化方法、マニピュレータ、およびマニピュレータシステム

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JP6914811B2 (ja) 2021-08-04
US20190134814A1 (en) 2019-05-09
JP2019084652A (ja) 2019-06-06
US11407108B2 (en) 2022-08-09
CN109760028A (zh) 2019-05-17

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