CN112975946B - 控制方法和机器人系统 - Google Patents

控制方法和机器人系统 Download PDF

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Publication number
CN112975946B
CN112975946B CN202011426866.0A CN202011426866A CN112975946B CN 112975946 B CN112975946 B CN 112975946B CN 202011426866 A CN202011426866 A CN 202011426866A CN 112975946 B CN112975946 B CN 112975946B
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CN
China
Prior art keywords
speed
robot
arm
upper limit
mode
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
CN202011426866.0A
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English (en)
Chinese (zh)
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CN112975946A (zh
Inventor
山田喜士
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
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Publication of CN112975946A publication Critical patent/CN112975946A/zh
Application granted granted Critical
Publication of CN112975946B publication Critical patent/CN112975946B/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
    • 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
    • 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
    • B25J9/1602—Programme 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—Programme-controlled manipulators
    • B25J9/0081—Programme-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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme 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
    • 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
    • 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
    • G05B2219/39438—Direct programming at the console

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN202011426866.0A 2019-12-13 2020-12-09 控制方法和机器人系统 Active CN112975946B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019225198A JP2021094602A (ja) 2019-12-13 2019-12-13 制御方法およびロボットシステム
JP2019-225198 2019-12-13

Publications (2)

Publication Number Publication Date
CN112975946A CN112975946A (zh) 2021-06-18
CN112975946B true CN112975946B (zh) 2023-10-27

Family

ID=76317155

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011426866.0A Active CN112975946B (zh) 2019-12-13 2020-12-09 控制方法和机器人系统

Country Status (3)

Country Link
US (1) US11628563B2 (enExample)
JP (1) JP2021094602A (enExample)
CN (1) CN112975946B (enExample)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7683236B2 (ja) * 2021-02-17 2025-05-27 セイコーエプソン株式会社 ロボット監視装置及びロボットシステム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011020188A (ja) * 2009-07-14 2011-02-03 Seiko Epson Corp ロボット装置およびロボット装置の制御方法
CN104626171A (zh) * 2015-01-07 2015-05-20 北京卫星环境工程研究所 基于六维力传感器的机械臂碰撞检测与响应方法
CN108942880A (zh) * 2017-05-18 2018-12-07 发那科株式会社 机器人系统
CN110405755A (zh) * 2018-04-26 2019-11-05 精工爱普生株式会社 控制装置、机器人以及机器人系统

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6062482A (ja) * 1983-09-02 1985-04-10 フアナツク株式会社 ロボットの安全速度制御装置
JP4014662B2 (ja) 1995-09-18 2007-11-28 ファナック株式会社 ロボット教示操作盤
JP4513568B2 (ja) 2002-07-18 2010-07-28 株式会社安川電機 ロボット制御装置
JP2004243427A (ja) 2003-02-12 2004-09-02 Yaskawa Electric Corp ロボット制御装置およびロボット制御方法
JP4347313B2 (ja) 2006-02-23 2009-10-21 ファナック株式会社 ロボット教示操作盤
WO2014036549A2 (en) * 2012-08-31 2014-03-06 Rethink Robotics, Inc. Systems and methods for safe robot operation
US9914216B2 (en) * 2012-11-09 2018-03-13 Abb Schweiz Ag Robot control with improved safety
JP6547320B2 (ja) * 2015-02-10 2019-07-24 株式会社デンソーウェーブ ロボットの制御装置及び制御方法
JP2017052016A (ja) * 2015-09-07 2017-03-16 セイコーエプソン株式会社 ロボット、制御装置およびロボットシステム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011020188A (ja) * 2009-07-14 2011-02-03 Seiko Epson Corp ロボット装置およびロボット装置の制御方法
CN104626171A (zh) * 2015-01-07 2015-05-20 北京卫星环境工程研究所 基于六维力传感器的机械臂碰撞检测与响应方法
CN108942880A (zh) * 2017-05-18 2018-12-07 发那科株式会社 机器人系统
CN110405755A (zh) * 2018-04-26 2019-11-05 精工爱普生株式会社 控制装置、机器人以及机器人系统

Also Published As

Publication number Publication date
US11628563B2 (en) 2023-04-18
JP2021094602A (ja) 2021-06-24
US20210178577A1 (en) 2021-06-17
CN112975946A (zh) 2021-06-18

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