CN110509256B - 控制装置及机器人系统 - Google Patents

控制装置及机器人系统 Download PDF

Info

Publication number
CN110509256B
CN110509256B CN201910426806.XA CN201910426806A CN110509256B CN 110509256 B CN110509256 B CN 110509256B CN 201910426806 A CN201910426806 A CN 201910426806A CN 110509256 B CN110509256 B CN 110509256B
Authority
CN
China
Prior art keywords
force
control mode
control
control device
movable part
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.)
Active
Application number
CN201910426806.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN110509256A (zh
Inventor
佐藤大辅
海野幸浩
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 CN110509256A publication Critical patent/CN110509256A/zh
Application granted granted Critical
Publication of CN110509256B publication Critical patent/CN110509256B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • 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
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • 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
    • 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
    • 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
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN201910426806.XA 2018-05-22 2019-05-21 控制装置及机器人系统 Active CN110509256B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-097625 2018-05-22
JP2018097625A JP7124439B2 (ja) 2018-05-22 2018-05-22 制御装置及びロボットシステム

Publications (2)

Publication Number Publication Date
CN110509256A CN110509256A (zh) 2019-11-29
CN110509256B true CN110509256B (zh) 2023-02-17

Family

ID=68614930

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910426806.XA Active CN110509256B (zh) 2018-05-22 2019-05-21 控制装置及机器人系统

Country Status (3)

Country Link
US (1) US20190358811A1 (enExample)
JP (1) JP7124439B2 (enExample)
CN (1) CN110509256B (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220134557A1 (en) * 2020-10-30 2022-05-05 Sintokogio, Ltd. Control device, robot control system, program, and control method
JP7687178B2 (ja) * 2020-10-30 2025-06-03 新東工業株式会社 制御装置、ロボット制御システム、プログラム、および制御方法
TWI742990B (zh) * 2021-01-19 2021-10-11 財團法人工業技術研究院 機械手臂系統、其控制方法及其電腦程式產品
JP7666223B2 (ja) 2021-08-18 2025-04-22 新東工業株式会社 自動塗布装置、及び自動塗布方法
JP2023129112A (ja) 2022-03-04 2023-09-14 新東工業株式会社 ロボット、及び、その制御方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10177409A (ja) * 1996-12-16 1998-06-30 Yaskawa Electric Corp ロボットのダイレクトティーチ装置
CN104972463A (zh) * 2014-04-14 2015-10-14 发那科株式会社 根据力动作的机器人的机器人控制装置及机器人系统
CN104972466A (zh) * 2014-04-14 2015-10-14 发那科株式会社 控制与作用的力对应地移动的机器人的机器人控制装置
JP6010225B2 (ja) * 2013-06-13 2016-10-19 テルモ株式会社 医療用マニピュレータ
CN107414842A (zh) * 2016-03-18 2017-12-01 精工爱普生株式会社 控制装置、机器人以及机器人系统
JP2018083284A (ja) * 2016-11-11 2018-05-31 セイコーエプソン株式会社 ロボット制御装置、ロボット、ロボットシステム、及び、ロボット制御方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10177409A (ja) * 1996-12-16 1998-06-30 Yaskawa Electric Corp ロボットのダイレクトティーチ装置
JP6010225B2 (ja) * 2013-06-13 2016-10-19 テルモ株式会社 医療用マニピュレータ
CN104972463A (zh) * 2014-04-14 2015-10-14 发那科株式会社 根据力动作的机器人的机器人控制装置及机器人系统
CN104972466A (zh) * 2014-04-14 2015-10-14 发那科株式会社 控制与作用的力对应地移动的机器人的机器人控制装置
CN107414842A (zh) * 2016-03-18 2017-12-01 精工爱普生株式会社 控制装置、机器人以及机器人系统
JP2018083284A (ja) * 2016-11-11 2018-05-31 セイコーエプソン株式会社 ロボット制御装置、ロボット、ロボットシステム、及び、ロボット制御方法

Also Published As

Publication number Publication date
CN110509256A (zh) 2019-11-29
US20190358811A1 (en) 2019-11-28
JP2019202365A (ja) 2019-11-28
JP7124439B2 (ja) 2022-08-24

Similar Documents

Publication Publication Date Title
CN110509256B (zh) 控制装置及机器人系统
CN107414842B (zh) 控制装置、机器人以及机器人系统
US20180029232A1 (en) Control apparatus and robot
US20150273689A1 (en) Robot control device, robot, robotic system, teaching method, and program
US10213922B2 (en) Robot control apparatus and robot system
US11318608B2 (en) Control device and robot system
US10315305B2 (en) Robot control apparatus which displays operation program including state of additional axis
EP2865496A1 (en) Latency smoothing for teleoperations system
CN114905487B (zh) 示教装置、示教方法以及记录介质
JP2017019068A (ja) 教示装置、ロボット、及びロボットシステム
US20180085920A1 (en) Robot control device, robot, and robot system
JP2015186834A (ja) ロボット制御装置、把持部制御装置、ロボット、把持部、ロボット制御方法、及びプログラム
JP2019034398A (ja) 制御装置、ロボットおよびロボットシステム
JP2017019069A (ja) 教示装置、ロボット、及びロボットシステム
JP6958091B2 (ja) ロボットシステム、及びロボット制御方法
JP2017052031A (ja) ロボット操作装置、ロボット操作方法
US20190389052A1 (en) Control apparatus, robot, and robot system
JP2020157475A (ja) 制御装置、ロボットシステム及びロボット制御方法
WO2025102363A1 (en) Method for controlling movement of robot, electronic device, and computer readable storage medium
CN114905486B (zh) 示教装置、示教方法及记录介质
Matheswaran et al. Control of Dual Robotic Arms via Marker-Less Hand Tracking
WO2023200011A1 (ja) 遠隔制御システム、ロボットの遠隔制御方法及び遠隔制御プログラム

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant