CN112041128B - 机器人的教导方法和机器人的教导系统 - Google Patents

机器人的教导方法和机器人的教导系统 Download PDF

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Publication number
CN112041128B
CN112041128B CN201980028602.9A CN201980028602A CN112041128B CN 112041128 B CN112041128 B CN 112041128B CN 201980028602 A CN201980028602 A CN 201980028602A CN 112041128 B CN112041128 B CN 112041128B
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CN
China
Prior art keywords
teaching
robot
opening
arm
robot arm
Prior art date
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Active
Application number
CN201980028602.9A
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English (en)
Chinese (zh)
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CN112041128A (zh
Inventor
毛笠佳典
村田刚彦
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.)
Kawasaki Motors Ltd
Original Assignee
Kawasaki Jukogyo KK
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Filing date
Publication date
Application filed by Kawasaki Jukogyo KK filed Critical Kawasaki Jukogyo KK
Publication of CN112041128A publication Critical patent/CN112041128A/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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme 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—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme 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
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • 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
    • B25J19/06—Safety devices
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • G05B19/402—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 control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • 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
    • G05B2219/39082—Collision, real time collision avoidance
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50048—Jogging
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50391—Robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
CN201980028602.9A 2018-04-27 2019-04-26 机器人的教导方法和机器人的教导系统 Active CN112041128B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018087229A JP7118725B2 (ja) 2018-04-27 2018-04-27 ロボットの教示方法及びロボットの教示システム
JP2018-087229 2018-04-27
PCT/JP2019/017972 WO2019208785A1 (ja) 2018-04-27 2019-04-26 ロボットの教示方法及びロボットの教示システム

Publications (2)

Publication Number Publication Date
CN112041128A CN112041128A (zh) 2020-12-04
CN112041128B true CN112041128B (zh) 2024-02-27

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980028602.9A Active CN112041128B (zh) 2018-04-27 2019-04-26 机器人的教导方法和机器人的教导系统

Country Status (4)

Country Link
US (1) US11534914B2 (enExample)
JP (1) JP7118725B2 (enExample)
CN (1) CN112041128B (enExample)
WO (1) WO2019208785A1 (enExample)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7691813B2 (ja) * 2020-06-26 2025-06-12 川崎重工業株式会社 ロボットの教示装置、ロボットの教示プログラム及びロボットの教示方法
TW202243834A (zh) * 2020-12-17 2022-11-16 日商發那科股份有限公司 使複數個移動機械移動並進行預定之作業的控制裝置、機械系統、方法及電腦程式
US20240075634A1 (en) * 2020-12-24 2024-03-07 Kawasaki Jukogyo Kabushiki Kaisha Robot system and robot working method
JP7596159B2 (ja) * 2021-01-14 2024-12-09 川崎重工業株式会社 双腕ロボットシステム
US12384045B2 (en) * 2022-06-06 2025-08-12 GM Global Technology Operations LLC Supplemental and targeted heating of vehicle body-in-white interior components/areas for paint ovens
JP7781099B2 (ja) * 2023-04-20 2025-12-05 芝浦機械株式会社 干渉検知装置および干渉検知方法
JP2025152919A (ja) * 2024-03-28 2025-10-10 川崎重工業株式会社 手術ロボットシステムおよびその制御方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0241881A (ja) * 1988-08-03 1990-02-13 Fanuc Ltd 多関節ロボットの教示制御方法
JP2006343975A (ja) * 2005-06-08 2006-12-21 Mitsubishi Heavy Ind Ltd ロボット教示装置
JP2008254172A (ja) * 2008-06-03 2008-10-23 Fanuc Ltd ロボットプログラム作成装置
JP2010042466A (ja) * 2008-08-11 2010-02-25 Fanuc Ltd ロボット教示システム及びロボットの動作のシミュレーション結果の表示方法
JP2012091304A (ja) * 2010-10-29 2012-05-17 Honda Motor Co Ltd ティーチングデータ作成方法およびティーチングデータ作成装置
JP2013136123A (ja) * 2011-12-28 2013-07-11 Kawasaki Heavy Ind Ltd ロボット動作教示支援装置及び方法
CN104626208A (zh) * 2015-01-07 2015-05-20 北京卫星环境工程研究所 航天器机械臂辅助装配安全工作空间建立及干涉预警方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2966706B2 (ja) 1993-10-05 1999-10-25 株式会社日立製作所 磨きロボットの自動教示方法
JP4836458B2 (ja) 2005-01-07 2011-12-14 株式会社神戸製鋼所 動作プログラムの作成方法
JP4206097B2 (ja) * 2005-11-25 2009-01-07 本田技研工業株式会社 ロボットのティーチングデータ作成方法
JP5113623B2 (ja) 2008-05-20 2013-01-09 ファナック株式会社 計測装置を用いてロボットの位置教示を行うロボット制御装置
JP2010240782A (ja) 2009-04-07 2010-10-28 Seiko Epson Corp ロボット制御システム、制御装置および制御方法
JP2012245577A (ja) 2011-05-26 2012-12-13 Seiko Epson Corp ロボット制御システム、ロボットシステム及びプログラム
JP6168890B2 (ja) 2013-04-30 2017-07-26 株式会社ダイヘン ロボット制御装置および多層盛溶接ロボットにおけるオフセット値の教示方法
JP5778311B1 (ja) * 2014-05-08 2015-09-16 東芝機械株式会社 ピッキング装置およびピッキング方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0241881A (ja) * 1988-08-03 1990-02-13 Fanuc Ltd 多関節ロボットの教示制御方法
JP2006343975A (ja) * 2005-06-08 2006-12-21 Mitsubishi Heavy Ind Ltd ロボット教示装置
JP2008254172A (ja) * 2008-06-03 2008-10-23 Fanuc Ltd ロボットプログラム作成装置
JP2010042466A (ja) * 2008-08-11 2010-02-25 Fanuc Ltd ロボット教示システム及びロボットの動作のシミュレーション結果の表示方法
JP2012091304A (ja) * 2010-10-29 2012-05-17 Honda Motor Co Ltd ティーチングデータ作成方法およびティーチングデータ作成装置
JP2013136123A (ja) * 2011-12-28 2013-07-11 Kawasaki Heavy Ind Ltd ロボット動作教示支援装置及び方法
CN104626208A (zh) * 2015-01-07 2015-05-20 北京卫星环境工程研究所 航天器机械臂辅助装配安全工作空间建立及干涉预警方法

Also Published As

Publication number Publication date
JP2019188576A (ja) 2019-10-31
WO2019208785A1 (ja) 2019-10-31
US20210046643A1 (en) 2021-02-18
US11534914B2 (en) 2022-12-27
CN112041128A (zh) 2020-12-04
JP7118725B2 (ja) 2022-08-16

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