CN111113373B - 控制装置、机器人系统及控制方法 - Google Patents

控制装置、机器人系统及控制方法 Download PDF

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Publication number
CN111113373B
CN111113373B CN201911032378.9A CN201911032378A CN111113373B CN 111113373 B CN111113373 B CN 111113373B CN 201911032378 A CN201911032378 A CN 201911032378A CN 111113373 B CN111113373 B CN 111113373B
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CN
China
Prior art keywords
robot
axis
control
unit
operation 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
CN201911032378.9A
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English (en)
Chinese (zh)
Other versions
CN111113373A (zh
Inventor
萩原努
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
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.)
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Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to CN202410256221.9A priority Critical patent/CN118081716A/zh
Publication of CN111113373A publication Critical patent/CN111113373A/zh
Application granted granted Critical
Publication of CN111113373B publication Critical patent/CN111113373B/zh
Active legal-status Critical Current
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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
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • 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
    • 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
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39371—Host and robot controller

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
CN201911032378.9A 2018-10-30 2019-10-28 控制装置、机器人系统及控制方法 Active CN111113373B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202410256221.9A CN118081716A (zh) 2018-10-30 2019-10-28 控制装置、机器人系统及控制方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018204520A JP7187985B2 (ja) 2018-10-30 2018-10-30 制御装置およびロボットシステム
JP2018-204520 2018-10-30

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202410256221.9A Division CN118081716A (zh) 2018-10-30 2019-10-28 控制装置、机器人系统及控制方法

Publications (2)

Publication Number Publication Date
CN111113373A CN111113373A (zh) 2020-05-08
CN111113373B true CN111113373B (zh) 2024-03-22

Family

ID=70327691

Family Applications (2)

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CN201911032378.9A Active CN111113373B (zh) 2018-10-30 2019-10-28 控制装置、机器人系统及控制方法
CN202410256221.9A Pending CN118081716A (zh) 2018-10-30 2019-10-28 控制装置、机器人系统及控制方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202410256221.9A Pending CN118081716A (zh) 2018-10-30 2019-10-28 控制装置、机器人系统及控制方法

Country Status (3)

Country Link
US (1) US11738469B2 (enExample)
JP (1) JP7187985B2 (enExample)
CN (2) CN111113373B (enExample)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103231374A (zh) * 2013-04-03 2013-08-07 华中科技大学 一种基于以太网通信的工业机器人示教盒
JP2014104529A (ja) * 2012-11-27 2014-06-09 Canon Inc ロボットシステム及びロボットシステムの制御方法
CN106965199A (zh) * 2017-05-08 2017-07-21 北京艾利特科技有限公司 一种体感示教终端及示教方法
CN107817769A (zh) * 2016-09-13 2018-03-20 发那科株式会社 具备与机器人控制部进行通信的示教操作盘的机器人系统
JP2018144162A (ja) * 2017-03-03 2018-09-20 株式会社キーエンス ロボット設定装置、ロボット設定方法、ロボット設定プログラム及びコンピュータで読み取り可能な記録媒体並びに記録した機器
CN108621155A (zh) * 2017-03-21 2018-10-09 精工爱普生株式会社 控制装置、示教装置以及机器人系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9356894B2 (en) * 2000-05-04 2016-05-31 Facebook, Inc. Enabled and disabled menu choices based on presence state
JP2013049102A (ja) 2011-08-30 2013-03-14 Denso Wave Inc ロボットの制御装置及びロボットの姿勢決定方法
JP2013154410A (ja) 2012-01-26 2013-08-15 Canon Inc 教示装置
JP6889574B2 (ja) * 2017-03-03 2021-06-18 株式会社キーエンス ロボット設定装置、ロボット設定方法、ロボット設定プログラム及びコンピュータで読み取り可能な記録媒体並びに記録した機器
JP7071070B2 (ja) * 2017-08-02 2022-05-18 川崎重工業株式会社 ロボットシステム及びその運転方法
JP6693538B2 (ja) * 2018-05-16 2020-05-13 株式会社安川電機 操作用デバイス、制御システム、制御方法及びプログラム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014104529A (ja) * 2012-11-27 2014-06-09 Canon Inc ロボットシステム及びロボットシステムの制御方法
CN103231374A (zh) * 2013-04-03 2013-08-07 华中科技大学 一种基于以太网通信的工业机器人示教盒
CN107817769A (zh) * 2016-09-13 2018-03-20 发那科株式会社 具备与机器人控制部进行通信的示教操作盘的机器人系统
JP2018144162A (ja) * 2017-03-03 2018-09-20 株式会社キーエンス ロボット設定装置、ロボット設定方法、ロボット設定プログラム及びコンピュータで読み取り可能な記録媒体並びに記録した機器
CN108621155A (zh) * 2017-03-21 2018-10-09 精工爱普生株式会社 控制装置、示教装置以及机器人系统
CN106965199A (zh) * 2017-05-08 2017-07-21 北京艾利特科技有限公司 一种体感示教终端及示教方法

Also Published As

Publication number Publication date
US20200130198A1 (en) 2020-04-30
JP7187985B2 (ja) 2022-12-13
JP2020069564A (ja) 2020-05-07
CN111113373A (zh) 2020-05-08
US11738469B2 (en) 2023-08-29
CN118081716A (zh) 2024-05-28

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