CN111745621B - 机器人控制装置、机器人的控制方法及机器人系统 - Google Patents

机器人控制装置、机器人的控制方法及机器人系统 Download PDF

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Publication number
CN111745621B
CN111745621B CN202010213963.5A CN202010213963A CN111745621B CN 111745621 B CN111745621 B CN 111745621B CN 202010213963 A CN202010213963 A CN 202010213963A CN 111745621 B CN111745621 B CN 111745621B
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CN
China
Prior art keywords
movable region
robot
frequency
frequency component
reduced
Prior art date
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CN202010213963.5A
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English (en)
Chinese (zh)
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CN111745621A (zh
Inventor
平出俊宪
年光俊介
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Seiko Epson Corp
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Seiko Epson Corp
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Publication of CN111745621A publication Critical patent/CN111745621A/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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program 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—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
    • 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
    • B25J13/088—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
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • 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
    • 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
    • B25J9/1679—Program 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39195—Control, avoid oscillation, vibration due to low rigidity
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41166—Adaptive filter frequency as function of oscillation, rigidity, inertia load

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN202010213963.5A 2019-03-26 2020-03-24 机器人控制装置、机器人的控制方法及机器人系统 Active CN111745621B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-057543 2019-03-26
JP2019057543A JP2020157402A (ja) 2019-03-26 2019-03-26 ロボット制御装置、ロボットの制御方法、およびロボットシステム

Publications (2)

Publication Number Publication Date
CN111745621A CN111745621A (zh) 2020-10-09
CN111745621B true CN111745621B (zh) 2024-04-23

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010213963.5A Active CN111745621B (zh) 2019-03-26 2020-03-24 机器人控制装置、机器人的控制方法及机器人系统

Country Status (3)

Country Link
US (1) US11465280B2 (https=)
JP (1) JP2020157402A (https=)
CN (1) CN111745621B (https=)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7007839B2 (ja) * 2017-08-31 2022-01-25 川崎重工業株式会社 多関節ロボット
JP7487479B2 (ja) * 2020-01-23 2024-05-21 セイコーエプソン株式会社 移動ロボットの制御方法
TWI728762B (zh) * 2020-03-27 2021-05-21 財團法人工業技術研究院 減低機械手臂振動之方法
JP7631965B2 (ja) 2021-03-25 2025-02-19 セイコーエプソン株式会社 ロボットシステム、制御装置および制御方法
JP7658142B2 (ja) * 2021-03-31 2025-04-08 セイコーエプソン株式会社 ロボットの制御方法、ロボットシステムおよびロボット制御プログラム
JP7643144B2 (ja) * 2021-03-31 2025-03-11 セイコーエプソン株式会社 ロボットの制御方法、ロボットシステムおよびロボット制御プログラム
JP7631999B2 (ja) 2021-03-31 2025-02-19 セイコーエプソン株式会社 ロボットの制御方法、ロボットシステムおよびロボット制御プログラム
CN119717527B (zh) * 2024-12-17 2025-07-29 山东大学 一种机器人加工振动控制方法及系统

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108687761A (zh) * 2017-03-31 2018-10-23 精工爱普生株式会社 控制装置、机器人以及机器人系统
JP2018171666A (ja) * 2017-03-31 2018-11-08 セイコーエプソン株式会社 制御装置、ロボット、およびロボットシステム

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3144638B2 (ja) * 1990-01-30 2001-03-12 シチズン時計株式会社 コンプライアアンス機構を有するロボットの制御方法
JPH0425390A (ja) * 1990-05-20 1992-01-29 Fujitsu Ltd ロボット制御装置
JP2001293638A (ja) 2000-02-10 2001-10-23 Fanuc Ltd 制御装置
DE60100372T2 (de) 2000-02-10 2003-12-04 Fanuc Ltd., Yamanashi Steuervorrichtung für eine Maschine
JP2007272597A (ja) 2006-03-31 2007-10-18 Yaskawa Electric Corp ロボットの加減速パターン生成方法
JP5353656B2 (ja) * 2009-11-24 2013-11-27 株式会社安川電機 ロボット制御装置
JP5645564B2 (ja) * 2010-09-14 2014-12-24 キヤノン株式会社 センサ装置及びロボット装置
KR101859441B1 (ko) * 2012-11-30 2018-05-21 어플라이드 머티어리얼스, 인코포레이티드 진동-제어되는 기판 핸들링 로봇, 시스템들, 및 방법들
JP6939024B2 (ja) 2017-03-31 2021-09-22 セイコーエプソン株式会社 ロボット制御装置、ロボットおよびロボットシステム
JP2018171664A (ja) 2017-03-31 2018-11-08 セイコーエプソン株式会社 制御装置、ロボット、およ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
CN108687761A (zh) * 2017-03-31 2018-10-23 精工爱普生株式会社 控制装置、机器人以及机器人系统
JP2018171666A (ja) * 2017-03-31 2018-11-08 セイコーエプソン株式会社 制御装置、ロボット、およびロボットシステム

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Publication number Publication date
US20200306961A1 (en) 2020-10-01
JP2020157402A (ja) 2020-10-01
CN111745621A (zh) 2020-10-09
US11465280B2 (en) 2022-10-11

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