CN112873198B - 机器人系统的控制方法 - Google Patents

机器人系统的控制方法 Download PDF

Info

Publication number
CN112873198B
CN112873198B CN202011339123.XA CN202011339123A CN112873198B CN 112873198 B CN112873198 B CN 112873198B CN 202011339123 A CN202011339123 A CN 202011339123A CN 112873198 B CN112873198 B CN 112873198B
Authority
CN
China
Prior art keywords
vehicle
robot
motor
workstation
robot arm
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.)
Active
Application number
CN202011339123.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN112873198A (zh
Inventor
金井裕之
年光俊介
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 CN112873198A publication Critical patent/CN112873198A/zh
Application granted granted Critical
Publication of CN112873198B publication Critical patent/CN112873198B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B25J9/1602—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
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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
    • B25J13/089—Determining the position of the robot with reference to its environment
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • 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
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31004—Move vehicle to battery charge or maintenance area
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34306—Power down, energy saving
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34315—Power supply turning on or shutting off
    • 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
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CN202011339123.XA 2019-11-29 2020-11-25 机器人系统的控制方法 Active CN112873198B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-216058 2019-11-29
JP2019216058A JP7392428B2 (ja) 2019-11-29 2019-11-29 ロボットシステムの制御方法

Publications (2)

Publication Number Publication Date
CN112873198A CN112873198A (zh) 2021-06-01
CN112873198B true CN112873198B (zh) 2023-05-23

Family

ID=73475886

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011339123.XA Active CN112873198B (zh) 2019-11-29 2020-11-25 机器人系统的控制方法

Country Status (5)

Country Link
US (1) US11633851B2 (https=)
EP (1) EP3827936B1 (https=)
JP (1) JP7392428B2 (https=)
CN (1) CN112873198B (https=)
TW (1) TWI755947B (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116833996A (zh) * 2022-03-25 2023-10-03 美的集团股份有限公司 工业机器人的控制方法、设备及存储介质
WO2023192681A1 (en) * 2022-04-01 2023-10-05 Vanderbilt University Inertia-based improvements to robots and robotic systems
JP7808787B2 (ja) * 2022-12-29 2026-01-30 パナソニックＩｐマネジメント株式会社 搬送制御システム、搬送システム、及び搬送制御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
CN106476009A (zh) * 2015-09-01 2017-03-08 发那科株式会社 机械
CN107009342A (zh) * 2016-01-28 2017-08-04 株式会社安川电机 带机器人臂的自动运输车系统及其控制方法、机器人系统
CN108068110A (zh) * 2016-11-10 2018-05-25 精工爱普生株式会社 控制装置、机器人及机器人系统
JP2018118341A (ja) * 2017-01-24 2018-08-02 三菱重工エンジン＆ターボチャージャ株式会社 作業ロボット及び生産システム

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01115580A (ja) * 1987-10-28 1989-05-08 Mitsubishi Electric Corp マニピュレータ付搬送車のマニピュレータ保持装置
JPH04240078A (ja) * 1991-01-22 1992-08-27 Sony Corp ロボットを搭載した搬送車及びこれを用いる生産装置
JP4491912B2 (ja) * 2000-05-22 2010-06-30 ソニー株式会社 バッテリ駆動の脚式移動ロボット及びその制御方法
AU2007347733B2 (en) * 2006-10-06 2012-05-03 Irobot Corporation Robotic vehicle
JP2008260117A (ja) 2007-03-16 2008-10-30 Nsk Ltd 脚車輪型ロボット及び脚車輪装置
CN105643589B (zh) * 2016-03-08 2018-08-07 北京工业大学 一种自主排障式智能车系统
CN107305372B (zh) * 2016-04-25 2020-06-19 岳秀兰 云计算网络架构的远程监控的电动汽车能源监控和补给网
CN106043247B (zh) * 2016-06-23 2020-02-28 蔚来汽车有限公司 模块化可扩充的换电站设备和充电架
JP6585656B2 (ja) * 2017-05-10 2019-10-02 株式会社ソニー・インタラクティブエンタテインメント 製造ライン用コンピュータシステム及びそのネットワーク設定方法
US10916073B2 (en) * 2018-05-01 2021-02-09 Ford Global Technologies, Llc Vehicle network data streaming system
JP2019216058A (ja) 2018-06-14 2019-12-19 日本電子株式会社 電子顕微鏡および評価方法
CN208756849U (zh) * 2018-06-20 2019-04-19 南阳防爆电气研究所有限公司 一种消防灭火侦察防爆机器人
JP7131131B2 (ja) * 2018-06-29 2022-09-06 マツダ株式会社 車両用ライン検出装置および該方法
CN209140881U (zh) * 2018-09-12 2019-07-23 珠海心怡科技有限公司 通用型建筑室内工程智能机器人

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106476009A (zh) * 2015-09-01 2017-03-08 发那科株式会社 机械
CN107009342A (zh) * 2016-01-28 2017-08-04 株式会社安川电机 带机器人臂的自动运输车系统及其控制方法、机器人系统
CN108068110A (zh) * 2016-11-10 2018-05-25 精工爱普生株式会社 控制装置、机器人及机器人系统
JP2018118341A (ja) * 2017-01-24 2018-08-02 三菱重工エンジン＆ターボチャージャ株式会社 作業ロボット及び生産システム

Also Published As

Publication number Publication date
US20210162591A1 (en) 2021-06-03
CN112873198A (zh) 2021-06-01
TWI755947B (zh) 2022-02-21
JP7392428B2 (ja) 2023-12-06
JP2021084195A (ja) 2021-06-03
EP3827936A1 (en) 2021-06-02
US11633851B2 (en) 2023-04-25
TW202120273A (zh) 2021-06-01
EP3827936B1 (en) 2024-03-27

Similar Documents

Publication Publication Date Title
CN112873198B (zh) 机器人系统的控制方法
US11173614B2 (en) Control apparatus and robot system
JP7275488B2 (ja) ロボットシステム
US9821459B2 (en) Multi-joint robot having function for repositioning arm
JP5144785B2 (ja) ロボットの着目部位と周辺物との干渉を予測する方法及び装置
US8180488B2 (en) Robot system
US10065311B1 (en) Singularity handling for robot jogging
CN110524536B (zh) 机器人控制装置以及机器人系统
CN118401348A (zh) 机器人设备的非线性轨迹优化
CN1873572A (zh) 操纵装置轨迹的控制
TW202200332A (zh) 計算自動化機器之安全範圍
JP2009090403A (ja) ロボット動作範囲設定装置
JP2019181611A (ja) ロボットの制御装置
CN110394802B (zh) 一种打磨机器人及位置补偿方法
US11141862B2 (en) Control apparatus, robot system and control method
CN112809664B (zh) 机器人系统的控制方法
US20250135635A1 (en) Simulation device
EP4088882A1 (en) Method of manipulating a construction object, construction robot system, and computer program product
WO2024045091A1 (zh) 执行机构的运动规划方法、装置、系统及存储介质
WO2022264673A1 (ja) 走行システム
Tai et al. A control of two wheels driven redundant mobile manipulator using a monocular camera system
CN118700119A (zh) 一种搬运装置及其控制方法、系统
JP2014156000A (ja) パラレルリンクロボット及びその制御方法
CN112828901A (zh) 用于算法研究的双臂移动机器人平台
Li et al. Model Based Control for a Mobile Robot with Upward Transported Mechanisms

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant