CN110405729B - 机器人控制装置 - Google Patents

机器人控制装置 Download PDF

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Publication number
CN110405729B
CN110405729B CN201910338198.7A CN201910338198A CN110405729B CN 110405729 B CN110405729 B CN 110405729B CN 201910338198 A CN201910338198 A CN 201910338198A CN 110405729 B CN110405729 B CN 110405729B
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China
Prior art keywords
robot
control
display
control program
setting value
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CN201910338198.7A
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English (en)
Chinese (zh)
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CN110405729A (zh
Inventor
竹内馨
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
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Seiko Epson Corp
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Publication of CN110405729A publication Critical patent/CN110405729A/zh
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    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with leader teach-in 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
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36489—Position and force

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN201910338198.7A 2018-04-26 2019-04-25 机器人控制装置 Active CN110405729B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-084922 2018-04-26
JP2018084922A JP7087632B2 (ja) 2018-04-26 2018-04-26 ロボット制御装置

Publications (2)

Publication Number Publication Date
CN110405729A CN110405729A (zh) 2019-11-05
CN110405729B true CN110405729B (zh) 2022-10-18

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CN201910338198.7A Active CN110405729B (zh) 2018-04-26 2019-04-25 机器人控制装置

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US (1) US11389954B2 (enExample)
JP (1) JP7087632B2 (enExample)
CN (1) CN110405729B (enExample)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114786888B (zh) * 2020-01-16 2024-07-30 欧姆龙株式会社 控制装置、控制方法以及控制程序
EP4173773A4 (en) * 2020-06-25 2024-03-27 Hitachi High-Tech Corporation ROBOT TEACHING APPARATUS AND METHOD FOR TEACHING JOBS
JP7537195B2 (ja) 2020-09-14 2024-08-21 セイコーエプソン株式会社 力制御パラメーター調整方法、ロボットシステムおよび力制御パラメーター調整プログラム
WO2023053368A1 (ja) * 2021-09-30 2023-04-06 ファナック株式会社 教示装置及びロボットシステム
JP2023080596A (ja) * 2021-11-30 2023-06-09 セイコーエプソン株式会社 プログラム作成装置およびプログラム
WO2024004171A1 (ja) * 2022-06-30 2024-01-04 ファナック株式会社 ロボット制御装置及びロボット制御システム
CN120835821A (zh) * 2023-03-15 2025-10-24 发那科株式会社 控制装置以及机器人系统
WO2025177474A1 (ja) * 2024-02-21 2025-08-28 ファナック株式会社 ユーザ補助装置

Citations (2)

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JP2014128857A (ja) * 2012-12-28 2014-07-10 Yaskawa Electric Corp ロボット教示システムおよびロボット教示方法
CN107848112A (zh) * 2015-08-25 2018-03-27 川崎重工业株式会社 机器人系统

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JPH08249026A (ja) * 1995-03-10 1996-09-27 Fanuc Ltd ロボットを含むシステムのプログラミング方法
JPH10151588A (ja) * 1996-11-20 1998-06-09 Tokyo Electric Power Co Inc:The 架空電線作業装置
CN102152313B (zh) * 2008-02-28 2012-12-12 松下电器产业株式会社 机器人手臂的控制装置及控制方法、机器人、机器人手臂的控制程序、及机器人手臂控制用集成电子电路
DE102010012598A1 (de) * 2010-02-26 2011-09-01 Kuka Laboratories Gmbh Prozessmodulbibliothek und Programmierumgebung zur Programmierung eines Manipulatorprozesses
US9599649B2 (en) * 2011-05-02 2017-03-21 Amber Precision Instruments, Inc. System and method for electrostatic discharge testing of devices under test
JP5939202B2 (ja) 2013-06-04 2016-06-22 株式会社安川電機 ロボット教示補助装置、ロボットシステムおよびロボット教示方法
EP2749974A2 (en) 2012-12-28 2014-07-02 Kabushiki Kaisha Yaskawa Denki Robot teaching system, robot teaching assistant device, and robot teaching method
JP5850004B2 (ja) * 2013-08-09 2016-02-03 株式会社安川電機 ロボット制御装置及びロボット制御方法
US9278449B1 (en) * 2014-05-21 2016-03-08 Bot & Dolly, Llc Closed-loop control system for robotic operation
JP5927259B2 (ja) * 2014-09-30 2016-06-01 ファナック株式会社 力制御を実行するロボットシステム
DE102014226787B3 (de) * 2014-12-22 2016-03-17 Kuka Roboter Gmbh Sicherer Roboter mit Bahnfortschrittsvariablen
US9707680B1 (en) * 2015-05-28 2017-07-18 X Development Llc Suggesting, selecting, and applying task-level movement parameters to implementation of robot motion primitives
JP6743431B2 (ja) * 2016-03-14 2020-08-19 セイコーエプソン株式会社 制御装置、及びロボットシステム
JP6721785B2 (ja) * 2016-09-15 2020-07-15 グーグル エルエルシー ロボット操作のための深層強化学習
JP7069747B2 (ja) * 2018-01-26 2022-05-18 セイコーエプソン株式会社 ロボット制御装置及びロボットシステム
JP6973119B2 (ja) * 2018-01-26 2021-11-24 セイコーエプソン株式会社 ロボット制御装置及びロボットシステム
JP7067107B2 (ja) * 2018-02-19 2022-05-16 セイコーエプソン株式会社 ロボット制御装置及びロボットシステム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014128857A (ja) * 2012-12-28 2014-07-10 Yaskawa Electric Corp ロボット教示システムおよびロボット教示方法
CN107848112A (zh) * 2015-08-25 2018-03-27 川崎重工业株式会社 机器人系统

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US11389954B2 (en) 2022-07-19
US20190329404A1 (en) 2019-10-31
JP2019188545A (ja) 2019-10-31
JP7087632B2 (ja) 2022-06-21
CN110405729A (zh) 2019-11-05

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