CN113561171B - 具有动态运动调整机制的机器人系统及其操作方法 - Google Patents

具有动态运动调整机制的机器人系统及其操作方法 Download PDF

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Publication number
CN113561171B
CN113561171B CN202110650731.0A CN202110650731A CN113561171B CN 113561171 B CN113561171 B CN 113561171B CN 202110650731 A CN202110650731 A CN 202110650731A CN 113561171 B CN113561171 B CN 113561171B
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planned
state
task
waypoints
robot
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Chinese (zh)
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CN113561171A (zh
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鲁仙·出杏光
野沢峻一
阿迪蒂·潘地亚
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Mu Jinkeji
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Mu Jinkeji
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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
    • B25J9/1656—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
    • 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
    • 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
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • 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
    • G05B2219/39243—Adaptive trajectory tracking

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
CN202110650731.0A 2020-01-05 2021-01-04 具有动态运动调整机制的机器人系统及其操作方法 Active CN113561171B (zh)

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US202062957282P 2020-01-05 2020-01-05
US62/957,282 2020-01-05
CN202180000868.XA CN113365787A (zh) 2020-01-05 2021-01-04 具有动态运动调整机制的机器人系统及其操作方法
PCT/US2021/012121 WO2021138691A1 (en) 2020-01-05 2021-01-04 Robotic system with dynamic motion adjustment mechanism and methods of operating the same

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CN113561171B true CN113561171B (zh) 2023-03-24

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US (2) US11833690B2 (enExample)
JP (2) JP7174965B2 (enExample)
CN (2) CN113561171B (enExample)
WO (1) WO2021138691A1 (enExample)

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JP7028196B2 (ja) * 2019-01-15 2022-03-02 オムロン株式会社 ロボット制御装置、ロボット制御方法、及びロボット制御プログラム
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Publication number Publication date
CN113365787A (zh) 2021-09-07
JP2022511343A (ja) 2022-01-31
JP7174965B2 (ja) 2022-11-18
JP2022160552A (ja) 2022-10-19
WO2021138691A1 (en) 2021-07-08
CN113561171A (zh) 2021-10-29
US20210205992A1 (en) 2021-07-08
US11833690B2 (en) 2023-12-05
US20240131708A1 (en) 2024-04-25

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