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

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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
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China
Prior art keywords
force
control mode
control
control device
movable part
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CN201910426806.XA
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English (en)
Chinese (zh)
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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
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Seiko Epson Corp
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Publication of CN110509256A publication Critical patent/CN110509256A/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—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
    • 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—Program-controlled manipulators
    • B25J9/0081—Program-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—Program-controlled manipulators
    • B25J9/02—Program-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—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
    • B25J9/163—Program 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program 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

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  • 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
JP2018097625A JP7124439B2 (ja) 2018-05-22 2018-05-22 制御装置及びロボットシステム
JP2018-097625 2018-05-22

Publications (2)

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

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CN201910426806.XA Active CN110509256B (zh) 2018-05-22 2019-05-21 控制装置及机器人系统

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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
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
US20220134557A1 (en) * 2020-10-30 2022-05-05 Sintokogio, Ltd. Control device, robot control system, program, and control method
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
JP7799275B2 (ja) 2022-03-04 2026-01-15 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
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
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
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
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
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
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

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

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