CN113661034B - 用于改善的机器人的关节坐标教导准确度的方法、储存介质和系统 - Google Patents

用于改善的机器人的关节坐标教导准确度的方法、储存介质和系统 Download PDF

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Publication number
CN113661034B
CN113661034B CN202080028073.5A CN202080028073A CN113661034B CN 113661034 B CN113661034 B CN 113661034B CN 202080028073 A CN202080028073 A CN 202080028073A CN 113661034 B CN113661034 B CN 113661034B
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robot
sensor data
data
processing system
error values
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Chinese (zh)
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CN113661034A (zh
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尼古拉斯·迈克尔·伯甘茨
阿里·乌特库·佩利文
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Applied Materials Inc
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Applied Materials Inc
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    • 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
    • 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
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0095—Manipulators transporting wafers
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • 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
    • B25J9/1628—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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45032—Wafer manufacture; interlock, load-lock module

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN202080028073.5A 2019-04-11 2020-04-10 用于改善的机器人的关节坐标教导准确度的方法、储存介质和系统 Active CN113661034B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211668008.6A CN116197933A (zh) 2019-04-11 2020-04-10 用于改善的机器人的关节坐标教导准确度的设备、系统和方法

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201962832585P 2019-04-11 2019-04-11
US62/832,585 2019-04-11
US16/844,765 US11279032B2 (en) 2019-04-11 2020-04-09 Apparatus, systems, and methods for improved joint coordinate teaching accuracy of robots
US16/844,765 2020-04-09
PCT/US2020/027768 WO2020210701A1 (en) 2019-04-11 2020-04-10 Apparatus, systems, and methods for improved joint coordinate teaching accuracy of robots

Related Child Applications (1)

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CN202211668008.6A Division CN116197933A (zh) 2019-04-11 2020-04-10 用于改善的机器人的关节坐标教导准确度的设备、系统和方法

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CN113661034B true CN113661034B (zh) 2023-01-10

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CN202080028073.5A Active CN113661034B (zh) 2019-04-11 2020-04-10 用于改善的机器人的关节坐标教导准确度的方法、储存介质和系统

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US (1) US11279032B2 (enExample)
JP (2) JP7128367B2 (enExample)
KR (1) KR102577561B1 (enExample)
CN (2) CN116197933A (enExample)
TW (2) TWI778348B (enExample)
WO (1) WO2020210701A1 (enExample)

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US20200324410A1 (en) 2020-10-15
JP2022518980A (ja) 2022-03-17
TWI778348B (zh) 2022-09-21
TW202304674A (zh) 2023-02-01
CN113661034A (zh) 2021-11-16
TW202100325A (zh) 2021-01-01
JP7128367B2 (ja) 2022-08-30
US11279032B2 (en) 2022-03-22
KR20210137248A (ko) 2021-11-17
KR102577561B1 (ko) 2023-09-11
CN116197933A (zh) 2023-06-02
WO2020210701A1 (en) 2020-10-15
JP2022191211A (ja) 2022-12-27

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