CN111618844B - 机器人系统以及控制方法 - Google Patents

机器人系统以及控制方法 Download PDF

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Publication number
CN111618844B
CN111618844B CN202010125274.9A CN202010125274A CN111618844B CN 111618844 B CN111618844 B CN 111618844B CN 202010125274 A CN202010125274 A CN 202010125274A CN 111618844 B CN111618844 B CN 111618844B
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CN
China
Prior art keywords
connector
cable
robot
claw
posture
Prior art date
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Active
Application number
CN202010125274.9A
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English (en)
Chinese (zh)
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CN111618844A (zh
Inventor
桝川友靖
岛田裕司
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 date
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Publication of CN111618844A publication Critical patent/CN111618844A/zh
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Publication of CN111618844B publication Critical patent/CN111618844B/zh
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera 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
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • 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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39109—Dual arm, multiarm manipulation, object handled in cooperation
    • 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
    • G05B2219/39116—Constraint object handled in cooperation
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/26—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
CN202010125274.9A 2019-02-28 2020-02-27 机器人系统以及控制方法 Active CN111618844B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-037008 2019-02-28
JP2019037008A JP2020138293A (ja) 2019-02-28 2019-02-28 ロボットシステムおよび制御方法

Publications (2)

Publication Number Publication Date
CN111618844A CN111618844A (zh) 2020-09-04
CN111618844B true CN111618844B (zh) 2024-11-19

Family

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CN202010125274.9A Active CN111618844B (zh) 2019-02-28 2020-02-27 机器人系统以及控制方法

Country Status (3)

Country Link
US (1) US11654567B2 (enExample)
JP (1) JP2020138293A (enExample)
CN (1) CN111618844B (enExample)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6777682B2 (ja) * 2018-04-27 2020-10-28 ファナック株式会社 複数の把持部を備えるロボットハンド、及びロボットハンドを用いてワイヤハーネスをハンドリングする方法
JP7015265B2 (ja) * 2019-03-14 2022-02-02 ファナック株式会社 コネクタを含むワークを把持する作業ツールおよび作業ツールを備えるロボット装置
CN112589769A (zh) * 2020-12-01 2021-04-02 鲁班嫡系机器人（深圳）有限公司 线状物的抓取方法、装置、末端执行器及系统
CN114952915B (zh) * 2022-07-11 2025-08-19 上海非夕机器人科技有限公司 机械手、机械手组件、机器人及装配带线束的插头的方法
CN116587276B (zh) * 2023-05-30 2024-08-27 同济大学 一种基于大模型的机器人线缆操作方法、装置及存储介质

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WO2018193754A1 (ja) * 2017-04-21 2018-10-25 ソニー株式会社 ロボット装置および電子機器の製造方法

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JPH03213286A (ja) * 1990-01-19 1991-09-18 Fujitsu Ltd ロボットの力制御方式
JPH09230922A (ja) * 1996-02-23 1997-09-05 Hitachi Constr Mach Co Ltd 力制御ロボットの接触検出装置
JP3876234B2 (ja) * 2003-06-17 2007-01-31 ファナック株式会社 コネクタ把持装置、同装置を備えたコネクタ検査システム及びコネクタ接続システム
JP5293039B2 (ja) * 2008-09-19 2013-09-18 株式会社安川電機 ロボットシステムおよびロボットの制御方法
JP5744587B2 (ja) * 2011-03-24 2015-07-08 キヤノン株式会社 ロボット制御装置、ロボット制御方法、プログラム及び記録媒体
JP2014108466A (ja) 2012-11-30 2014-06-12 Fanuc Ltd 力センサ付き電動ハンド
JP6025658B2 (ja) 2013-05-29 2016-11-16 本田技研工業株式会社 コネクタ挿入方法及びコネクタ挿入装置
JP6164970B2 (ja) * 2013-08-07 2017-07-19 キヤノン株式会社 ロボット制御方法、ロボットシステム、プログラム、記録媒体及び部品の製造方法
JP2015226968A (ja) * 2014-06-02 2015-12-17 セイコーエプソン株式会社 ロボット、ロボットシステム、制御装置、及び制御方法
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JP6638384B2 (ja) 2015-12-25 2020-01-29 富士通株式会社 ロボットハンドおよびケーブル手繰り方法
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WO2018193754A1 (ja) * 2017-04-21 2018-10-25 ソニー株式会社 ロボット装置および電子機器の製造方法

Also Published As

Publication number Publication date
US20200276712A1 (en) 2020-09-03
CN111618844A (zh) 2020-09-04
JP2020138293A (ja) 2020-09-03
US11654567B2 (en) 2023-05-23

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