CN115397629A - 离线模拟系统 - Google Patents

离线模拟系统 Download PDF

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Publication number
CN115397629A
CN115397629A CN202180025317.9A CN202180025317A CN115397629A CN 115397629 A CN115397629 A CN 115397629A CN 202180025317 A CN202180025317 A CN 202180025317A CN 115397629 A CN115397629 A CN 115397629A
Authority
CN
China
Prior art keywords
workpiece
unit
virtual space
teaching
camera
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.)
Pending
Application number
CN202180025317.9A
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English (en)
Chinese (zh)
Inventor
村田裕介
高桥广光
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
Original Assignee
Fanuc 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 Fanuc Corp filed Critical Fanuc Corp
Publication of CN115397629A publication Critical patent/CN115397629A/zh
Pending legal-status Critical Current

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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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • B25J9/1679—Program 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—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
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B19/4155—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 program execution, i.e. part program or machine function execution, e.g. selection of a program
    • 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
    • G05B19/42—Recording and playback systems, i.e. in which the program 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
    • G05B19/427—Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, leader-follower control
    • 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
    • G05B2219/39014—Match virtual world with real world
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50391—Robot

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
CN202180025317.9A 2020-03-30 2021-03-24 离线模拟系统 Pending CN115397629A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020060313 2020-03-30
JP2020-060313 2020-03-30
PCT/JP2021/012229 WO2021200470A1 (ja) 2020-03-30 2021-03-24 オフラインシミュレーションシステム

Publications (1)

Publication Number Publication Date
CN115397629A true CN115397629A (zh) 2022-11-25

Family

ID=77928366

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180025317.9A Pending CN115397629A (zh) 2020-03-30 2021-03-24 离线模拟系统

Country Status (5)

Country Link
US (1) US12090669B2 (https=)
JP (1) JP7381718B2 (https=)
CN (1) CN115397629A (https=)
DE (1) DE112021002026B4 (https=)
WO (1) WO2021200470A1 (https=)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101085523A (zh) * 2006-06-06 2007-12-12 发那科株式会社 机器人模拟装置
CN102119072A (zh) * 2008-06-09 2011-07-06 Abb技术有限公司 有助于对离线编程机器人单元进行校准的方法和系统
CN110238831A (zh) * 2019-07-23 2019-09-17 青岛理工大学 基于rgb-d图像及示教器的机器人示教系统及方法
CN110465951A (zh) * 2018-05-11 2019-11-19 西门子股份公司 用于机器人编程的方法、设备、计算机可读存储媒体和计算机程序

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4266946B2 (ja) * 2005-03-17 2009-05-27 ファナック株式会社 オフライン教示装置
JP2009119589A (ja) * 2007-11-19 2009-06-04 Yaskawa Electric Corp ロボットシミュレータ
JP5815761B2 (ja) * 2014-01-23 2015-11-17 ファナック株式会社 視覚センサのデータ作成システム及び検出シミュレーションシステム
JP2015229234A (ja) * 2014-06-06 2015-12-21 ナブテスコ株式会社 作業ロボットの教示データ生成装置及び教示データ生成方法
JP6350037B2 (ja) * 2014-06-30 2018-07-04 株式会社安川電機 ロボットシミュレータおよびロボットシミュレータのファイル生成方法
JP6126067B2 (ja) * 2014-11-28 2017-05-10 ファナック株式会社 工作機械及びロボットを備えた協働システム
US9740191B2 (en) * 2015-02-12 2017-08-22 The Boeing Company Location calibration for automated production manufacturing
JP7091609B2 (ja) * 2017-04-14 2022-06-28 セイコーエプソン株式会社 シミュレーション装置、ロボット制御装置およびロボット
JP7259284B2 (ja) * 2017-11-28 2023-04-18 株式会社デンソーウェーブ 教示装置、教示方法
JP6693981B2 (ja) * 2018-02-19 2020-05-13 ファナック株式会社 ロボットの動作をシミュレーションするシミュレーション装置
JP6810093B2 (ja) * 2018-04-25 2021-01-06 ファナック株式会社 ロボットのシミュレーション装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101085523A (zh) * 2006-06-06 2007-12-12 发那科株式会社 机器人模拟装置
CN102119072A (zh) * 2008-06-09 2011-07-06 Abb技术有限公司 有助于对离线编程机器人单元进行校准的方法和系统
CN110465951A (zh) * 2018-05-11 2019-11-19 西门子股份公司 用于机器人编程的方法、设备、计算机可读存储媒体和计算机程序
CN110238831A (zh) * 2019-07-23 2019-09-17 青岛理工大学 基于rgb-d图像及示教器的机器人示教系统及方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
丁国富，王金诺，吴晓著: "基于虚拟现实的物料搬运机械远程操作理论及仿真", 31 July 2007, 成都：西南交通大学出版社, pages: 53 *

Also Published As

Publication number Publication date
JP7381718B2 (ja) 2023-11-15
JPWO2021200470A1 (https=) 2021-10-07
WO2021200470A1 (ja) 2021-10-07
DE112021002026T5 (de) 2023-02-09
US12090669B2 (en) 2024-09-17
DE112021002026B4 (de) 2025-07-10
US20230090193A1 (en) 2023-03-23

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