CN111941420A - 机器人系统、控制装置及机器人的控制方法 - Google Patents

机器人系统、控制装置及机器人的控制方法 Download PDF

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Publication number
CN111941420A
CN111941420A CN202010401836.8A CN202010401836A CN111941420A CN 111941420 A CN111941420 A CN 111941420A CN 202010401836 A CN202010401836 A CN 202010401836A CN 111941420 A CN111941420 A CN 111941420A
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CN
China
Prior art keywords
robot
temperature
force sensor
output
force
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.)
Pending
Application number
CN202010401836.8A
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English (en)
Chinese (zh)
Inventor
濑下勇
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 CN111941420A publication Critical patent/CN111941420A/zh
Pending 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • 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
    • 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • 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
    • 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
    • B25J9/1694—Program 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
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40202—Human robot coexistence

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
CN202010401836.8A 2019-05-16 2020-05-13 机器人系统、控制装置及机器人的控制方法 Pending CN111941420A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-092676 2019-05-16
JP2019092676A JP7400211B2 (ja) 2019-05-16 2019-05-16 ロボットシステム、制御装置およびロボットの制御方法

Publications (1)

Publication Number Publication Date
CN111941420A true CN111941420A (zh) 2020-11-17

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010401836.8A Pending CN111941420A (zh) 2019-05-16 2020-05-13 机器人系统、控制装置及机器人的控制方法

Country Status (3)

Country Link
US (1) US11465285B2 (https=)
JP (1) JP7400211B2 (https=)
CN (1) CN111941420A (https=)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112757345A (zh) * 2021-01-27 2021-05-07 上海节卡机器人科技有限公司 一种协作机器人碰撞检测方法、装置、介质及电子设备
CN117359681A (zh) * 2022-07-07 2024-01-09 精工爱普生株式会社 机器人系统
TWI896828B (zh) * 2021-01-18 2025-09-11 日商發那科股份有限公司 具備包含轉矩感測器之機器人之機器人系統

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114260938A (zh) * 2021-12-21 2022-04-01 中科新松有限公司 一种机器人制动性能的测试系统及测试方法
CN114670247B (zh) * 2022-04-20 2023-12-08 江苏徐工工程机械研究院有限公司 破拆机器人的散热系统和破拆机器人
EP4480641B1 (en) * 2023-06-19 2025-04-30 Kassow Robots ApS Robotic arm with an integrated control unit

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1190737A (zh) * 1996-12-05 1998-08-19 株式会社佐竹制作所 测力传感器式重量检测器用的温度补偿方法及其装置
JP2014124740A (ja) * 2012-12-27 2014-07-07 Seiko Epson Corp ロボット
CN104608113A (zh) * 2013-11-01 2015-05-13 精工爱普生株式会社 机器人、机器人系统以及机器人控制装置
CN104776947A (zh) * 2015-04-03 2015-07-15 袁川来 一种机器人腕力传感器温度漂移的补偿方法
CN106181997A (zh) * 2015-05-28 2016-12-07 发那科株式会社 监视机器人与人的接触力的机器人系统

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JPH10180662A (ja) * 1996-12-27 1998-07-07 Tokico Ltd 工業用ロボット
JP2014050935A (ja) 2012-09-10 2014-03-20 Seiko Epson Corp ロボット制御装置、ロボットおよびロボットシステム
JP2015066669A (ja) 2013-10-01 2015-04-13 キヤノン株式会社 ロボット装置及びロボット制御方法
JP2015074059A (ja) 2013-10-10 2015-04-20 セイコーエプソン株式会社 ロボット制御装置、ロボットシステム、ロボット、ロボット制御方法及びプログラム
JP5905443B2 (ja) * 2013-12-25 2016-04-20 ファナック株式会社 人協調型産業用ロボットの外力判定方法および外力判定装置
JP6541301B2 (ja) * 2014-03-28 2019-07-10 キヤノン株式会社 ロボット装置、ロボット装置の制御方法、ロボット制御プログラム、及び記録媒体
JP5931167B1 (ja) * 2014-12-11 2016-06-08 ファナック株式会社 人間協調型ロボットシステム
JP6342971B2 (ja) 2016-11-14 2018-06-13 ファナック株式会社 力検出装置及びロボット
JP6922213B2 (ja) 2016-12-26 2021-08-18 株式会社デンソーウェーブ マニプレータの暖機運転要否判定装置
WO2020090809A1 (ja) * 2018-11-01 2020-05-07 キヤノン株式会社 外部入力装置、ロボットシステム、ロボットシステムの制御方法、制御プログラム、及び記録媒体

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* Cited by examiner, † Cited by third party
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CN1190737A (zh) * 1996-12-05 1998-08-19 株式会社佐竹制作所 测力传感器式重量检测器用的温度补偿方法及其装置
JP2014124740A (ja) * 2012-12-27 2014-07-07 Seiko Epson Corp ロボット
CN104608113A (zh) * 2013-11-01 2015-05-13 精工爱普生株式会社 机器人、机器人系统以及机器人控制装置
CN104776947A (zh) * 2015-04-03 2015-07-15 袁川来 一种机器人腕力传感器温度漂移的补偿方法
CN106181997A (zh) * 2015-05-28 2016-12-07 发那科株式会社 监视机器人与人的接触力的机器人系统

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Title
何远虑: "《非电量检测技术》", vol. 1, 电子科技大学出版社, pages: 185 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI896828B (zh) * 2021-01-18 2025-09-11 日商發那科股份有限公司 具備包含轉矩感測器之機器人之機器人系統
CN112757345A (zh) * 2021-01-27 2021-05-07 上海节卡机器人科技有限公司 一种协作机器人碰撞检测方法、装置、介质及电子设备
CN117359681A (zh) * 2022-07-07 2024-01-09 精工爱普生株式会社 机器人系统

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US20200361089A1 (en) 2020-11-19
JP2020185647A (ja) 2020-11-19
US11465285B2 (en) 2022-10-11
JP7400211B2 (ja) 2023-12-19

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