CN114929435B - 控制系统 - Google Patents

控制系统 Download PDF

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Publication number
CN114929435B
CN114929435B CN202180008088.XA CN202180008088A CN114929435B CN 114929435 B CN114929435 B CN 114929435B CN 202180008088 A CN202180008088 A CN 202180008088A CN 114929435 B CN114929435 B CN 114929435B
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CN
China
Prior art keywords
data
robot
interpolation
unit
sensor
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
CN202180008088.XA
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English (en)
Chinese (zh)
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CN114929435A (zh
Inventor
寺本贵一
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.)
Fanuc Corp
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Fanuc Corp
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Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of CN114929435A publication Critical patent/CN114929435A/zh
Application granted granted Critical
Publication of CN114929435B publication Critical patent/CN114929435B/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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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
    • 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1641—Program controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • 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
    • G05B19/18—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 program data in numerical form
    • G05B19/404—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 program data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37388—Acceleration or deceleration, inertial measurement
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37434—Measuring vibration of machine or workpiece or tool
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37435—Vibration of 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
    • G05B2219/37—Measurements
    • G05B2219/37634—By measuring vibration
    • 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
    • G05B2219/39199—Active vibration absorber

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN202180008088.XA 2020-01-10 2021-01-06 控制系统 Active CN114929435B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020002976 2020-01-10
JP2020-002976 2020-01-10
PCT/JP2021/000226 WO2021141049A1 (ja) 2020-01-10 2021-01-06 制御システム

Publications (2)

Publication Number Publication Date
CN114929435A CN114929435A (zh) 2022-08-19
CN114929435B true CN114929435B (zh) 2024-12-20

Family

ID=76788771

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180008088.XA Active CN114929435B (zh) 2020-01-10 2021-01-06 控制系统

Country Status (5)

Country Link
US (1) US12350844B2 (https=)
JP (1) JP7384933B2 (https=)
CN (1) CN114929435B (https=)
DE (1) DE112021000503B4 (https=)
WO (1) WO2021141049A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023243010A1 (ja) 2022-06-15 2023-12-21 ヤマハ発動機株式会社 支援装置及びロボットシステム

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104742126A (zh) * 2013-12-26 2015-07-01 发那科株式会社 具有无线加速度传感器的机器人系统
JP2019042842A (ja) * 2017-08-31 2019-03-22 株式会社神戸製鋼所 駆動機械の学習制御装置及び学習制御方法

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JPH06324733A (ja) 1993-05-12 1994-11-25 Fanuc Ltd センサ付きロボットの制御方法及び装置
JPH07164358A (ja) 1993-12-16 1995-06-27 Meidensha Corp ロボット制御装置
JP3367461B2 (ja) * 1999-04-13 2003-01-14 日本電気株式会社 移動体姿勢角検出装置
JPWO2006022201A1 (ja) * 2004-08-25 2008-05-08 株式会社安川電機 ロボットの評価システム及び評価方法
DE102007035485A1 (de) * 2007-07-28 2009-01-29 Volkswagen Ag Laserschweißvorrichtung zum Fügen von Bauteilen
JP4850956B2 (ja) * 2010-02-19 2012-01-11 ファナック株式会社 学習制御機能を備えたロボット
JP5035370B2 (ja) * 2010-03-12 2012-09-26 沖電気工業株式会社 運動検出装置、運動検出方法、及びプログラム
CN102510793B (zh) 2010-06-04 2015-01-28 中国科学院自动化研究所 加速度连续的机器人轨迹生成系统和方法
JP5480198B2 (ja) 2011-05-17 2014-04-23 ファナック株式会社 学習制御機能を備えたスポット溶接ロボット
JP5438175B2 (ja) 2012-07-09 2014-03-12 ファナック株式会社 制振制御ロボットシステム
JP6017213B2 (ja) 2012-07-20 2016-10-26 株式会社神戸製鋼所 光学式センサ付きロボットのキャリブレーション方法
JP2014030857A (ja) 2012-08-01 2014-02-20 Seiko Epson Corp ロボット及び搬送装置
JP2017196704A (ja) 2016-04-28 2017-11-02 セイコーエプソン株式会社 可動部の振動測定方法、ロボットの振動測定方法および制御装置
CN105868870A (zh) * 2016-05-17 2016-08-17 北京数行健科技有限公司 一种基于数据融合的城市快速路旅行时间估计方法和装置
JP6400750B2 (ja) * 2017-01-26 2018-10-03 ファナック株式会社 学習制御機能を備えた制御システム及び制御方法
WO2019043852A1 (ja) * 2017-08-30 2019-03-07 三菱電機株式会社 数値制御システムおよびモータ制御装置
CN109543703B (zh) 2017-09-22 2023-06-23 华为技术有限公司 传感器数据处理的方法及装置
CN108189637A (zh) * 2017-12-29 2018-06-22 燕山大学 一种应急救援车辆主动悬挂作动器控制量的数据融合方法
CN110134913B (zh) * 2018-02-08 2023-08-18 松下知识产权经营株式会社 数据分析方法、数据分析装置以及记录介质
JP6748126B2 (ja) 2018-02-08 2020-08-26 ファナック株式会社 作業ロボットシステム
JP6836544B2 (ja) 2018-05-09 2021-03-03 ファナック株式会社 制御システムおよび被駆動体の制御方法
DK180673B1 (en) * 2019-12-29 2021-11-25 Universal Robots As Method of obtaining vibrational properties of robot arm

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104742126A (zh) * 2013-12-26 2015-07-01 发那科株式会社 具有无线加速度传感器的机器人系统
JP2019042842A (ja) * 2017-08-31 2019-03-22 株式会社神戸製鋼所 駆動機械の学習制御装置及び学習制御方法

Also Published As

Publication number Publication date
JPWO2021141049A1 (https=) 2021-07-15
JP7384933B2 (ja) 2023-11-21
US20230033679A1 (en) 2023-02-02
US12350844B2 (en) 2025-07-08
DE112021000503T5 (de) 2022-11-17
DE112021000503B4 (de) 2025-07-10
CN114929435A (zh) 2022-08-19
WO2021141049A1 (ja) 2021-07-15

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