CN112118940B - 机械手的直接教示装置以及直接教示方法 - Google Patents

机械手的直接教示装置以及直接教示方法 Download PDF

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Publication number
CN112118940B
CN112118940B CN201980032159.2A CN201980032159A CN112118940B CN 112118940 B CN112118940 B CN 112118940B CN 201980032159 A CN201980032159 A CN 201980032159A CN 112118940 B CN112118940 B CN 112118940B
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China
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constraint
unit
arm
orientation
calculation unit
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Chinese (zh)
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CN112118940A (zh
Inventor
田原铁也
岩下纯久
野村琢磨
杉本广大
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Azbil Corp
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Azbil Corp
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    • 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
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • 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
    • G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
CN201980032159.2A 2018-05-23 2019-05-10 机械手的直接教示装置以及直接教示方法 Active CN112118940B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018098891A JP7048176B2 (ja) 2018-05-23 2018-05-23 ロボットの直接教示装置及び直接教示方法
JP2018-098891 2018-05-23
PCT/JP2019/018766 WO2019225358A1 (ja) 2018-05-23 2019-05-10 ロボットの直接教示装置及び直接教示方法

Publications (2)

Publication Number Publication Date
CN112118940A CN112118940A (zh) 2020-12-22
CN112118940B true CN112118940B (zh) 2023-05-30

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CN201980032159.2A Active CN112118940B (zh) 2018-05-23 2019-05-10 机械手的直接教示装置以及直接教示方法

Country Status (4)

Country Link
JP (1) JP7048176B2 (ko)
KR (1) KR102381594B1 (ko)
CN (1) CN112118940B (ko)
WO (1) WO2019225358A1 (ko)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7131087B2 (ja) * 2018-05-31 2022-09-06 セイコーエプソン株式会社 ロボットシステムの制御方法およびロボットシステム
JP2022062859A (ja) * 2020-10-09 2022-04-21 川崎重工業株式会社 手術支援システム、手術支援システムの制御装置および手術支援システムの制御方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05303425A (ja) * 1992-04-27 1993-11-16 Nippon Telegr & Teleph Corp <Ntt> 直接教示方式ロボット
JPH09141580A (ja) * 1995-11-22 1997-06-03 Yaskawa Electric Corp 直接教示ロボットの動作範囲制限装置
CN1200691A (zh) * 1995-09-14 1998-12-02 株式会社安川电机 机器人的教学装置
JP2017094440A (ja) * 2015-11-24 2017-06-01 川崎重工業株式会社 ロボットのダイレクト教示方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0337701A (ja) * 1989-07-05 1991-02-19 Toshiba Corp ロボットの制御方法及び装置
JP3207231B2 (ja) 1992-01-24 2001-09-10 松下電器産業株式会社 ロボットの直接教示方法
JPH05250029A (ja) 1992-03-04 1993-09-28 Kobe Steel Ltd 産業用ロボット
JPH05285870A (ja) 1992-04-03 1993-11-02 Matsushita Electric Ind Co Ltd 多関節ロボットの直接教示装置
US6385508B1 (en) 2000-10-31 2002-05-07 Fanuc Robotics North America, Inc. Lead-through teach handle assembly and method of teaching a robot assembly
JP3923053B2 (ja) * 2004-03-31 2007-05-30 ファナック株式会社 ロボット教示装置
JP5636119B2 (ja) * 2011-11-30 2014-12-03 パナソニック株式会社 ロボットの教示装置、ロボット装置、ロボットの教示装置の制御方法、ロボットの教示装置の制御プログラム
JP5893666B2 (ja) 2014-04-14 2016-03-23 ファナック株式会社 力に応じて動かすロボットのロボット制御装置およびロボットシステム
US9804593B1 (en) 2014-12-12 2017-10-31 X Development Llc Methods and systems for teaching positions to components of devices
EP3582934B1 (en) 2017-02-17 2021-11-10 ABB Schweiz AG A method for controlling an industrial robot during lead-through programming of the robot and an industrial robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05303425A (ja) * 1992-04-27 1993-11-16 Nippon Telegr & Teleph Corp <Ntt> 直接教示方式ロボット
CN1200691A (zh) * 1995-09-14 1998-12-02 株式会社安川电机 机器人的教学装置
JPH09141580A (ja) * 1995-11-22 1997-06-03 Yaskawa Electric Corp 直接教示ロボットの動作範囲制限装置
JP2017094440A (ja) * 2015-11-24 2017-06-01 川崎重工業株式会社 ロボットのダイレクト教示方法

Also Published As

Publication number Publication date
KR102381594B1 (ko) 2022-04-04
KR20200139217A (ko) 2020-12-11
WO2019225358A1 (ja) 2019-11-28
JP2019202383A (ja) 2019-11-28
JP7048176B2 (ja) 2022-04-05
CN112118940A (zh) 2020-12-22

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