CN115702064B - 机器人控制装置及机器人控制方法 - Google Patents

机器人控制装置及机器人控制方法

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Publication number
CN115702064B
CN115702064B CN202080102378.6A CN202080102378A CN115702064B CN 115702064 B CN115702064 B CN 115702064B CN 202080102378 A CN202080102378 A CN 202080102378A CN 115702064 B CN115702064 B CN 115702064B
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CN
China
Prior art keywords
axis
robot
command
motion
operation command
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
CN202080102378.6A
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English (en)
Chinese (zh)
Other versions
CN115702064A (zh
Inventor
春尾七星
前川清石
白土浩司
冈原卓矢
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.)
Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of CN115702064A publication Critical patent/CN115702064A/zh
Application granted granted Critical
Publication of CN115702064B publication Critical patent/CN115702064B/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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B25J9/1602—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40476—Collision, planning for collision free path

Landscapes

  • 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)
CN202080102378.6A 2020-07-08 2020-07-08 机器人控制装置及机器人控制方法 Active CN115702064B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/026686 WO2022009333A1 (ja) 2020-07-08 2020-07-08 ロボット制御装置、ロボット制御方法、およびロボット制御プログラム

Publications (2)

Publication Number Publication Date
CN115702064A CN115702064A (zh) 2023-02-14
CN115702064B true CN115702064B (zh) 2025-10-10

Family

ID=79552456

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080102378.6A Active CN115702064B (zh) 2020-07-08 2020-07-08 机器人控制装置及机器人控制方法

Country Status (5)

Country Link
US (1) US12214505B2 (https=)
JP (1) JP7313564B2 (https=)
CN (1) CN115702064B (https=)
DE (1) DE112020007414B4 (https=)
WO (1) WO2022009333A1 (https=)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112023000819T5 (de) * 2022-02-04 2024-11-28 Mitsubishi Electric Corporation Weggenerierungsvorrichtung
JP7726365B2 (ja) * 2022-02-22 2025-08-20 三菱電機株式会社 ロボット制御装置およびロボット制御方法
CN114740857A (zh) * 2022-04-14 2022-07-12 国家能源集团乐东发电有限公司 一种基于强化学习的四足机器人运动控制方法及系统
JP2025035653A (ja) * 2023-09-04 2025-03-14 Ｎｅｃプラットフォームズ株式会社 命令学習装置、命令学習方法およびプログラム

Citations (2)

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CN103568008A (zh) * 2012-07-27 2014-02-12 精工爱普生株式会社 机器人系统以及机器人控制装置
CN106597989A (zh) * 2015-10-14 2017-04-26 发那科株式会社 进行避免和工件的干扰的定位的数值控制装置

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JP4942672B2 (ja) * 2008-01-25 2012-05-30 三菱電機株式会社 ロボット軌道制御装置及びロボット軌道制御方法
JP2010046751A (ja) 2008-08-21 2010-03-04 Kobe Steel Ltd 多関節ロボットの移動経路算出方法及びロボットシステム
JP5724919B2 (ja) * 2012-03-22 2015-05-27 トヨタ自動車株式会社 軌道生成装置、移動体、軌道生成方法及びプログラム
JP5868266B2 (ja) * 2012-05-30 2016-02-24 株式会社神戸製鋼所 多関節ロボットの弾性変形補償制御装置および制御方法
JP5980042B2 (ja) * 2012-08-16 2016-08-31 キヤノン株式会社 搬送装置の制御方法及び搬送システム
JP6217089B2 (ja) * 2013-02-21 2017-10-25 セイコーエプソン株式会社 ロボット制御システム、ロボット、ロボット制御方法及びプログラム
US9221175B2 (en) 2013-03-28 2015-12-29 Denso Wave Incorporated Method of generating path of multiaxial robot and control apparatus for the multiaxial robot
JP6282140B2 (ja) * 2014-02-26 2018-02-21 キヤノン株式会社 軌道生成方法、ロボット装置、プログラム及び記録媒体
DE102015009815A1 (de) * 2015-07-28 2017-02-02 Kuka Roboter Gmbh Verfahren zum Steuern eines mobilen redundanten Roboters
US9981381B1 (en) * 2016-06-08 2018-05-29 X Development Llc Real time generation of phase synchronized trajectories
DE102017213651A1 (de) 2017-08-07 2019-02-07 Robert Bosch Gmbh Handhabungseinrichtung mit einem Roboter sowie Verfahren und Computerprogramm
JP7170181B2 (ja) * 2017-09-04 2022-11-14 パナソニックＩｐマネジメント株式会社 ロボット制御装置
JP7158862B2 (ja) 2018-02-05 2022-10-24 キヤノン株式会社 情報処理方法及び情報処理装置
US11458626B2 (en) * 2018-02-05 2022-10-04 Canon Kabushiki Kaisha Trajectory generating method, and trajectory generating apparatus
JP7126366B2 (ja) * 2018-03-28 2022-08-26 セコム株式会社 移動制御システム
JP7126222B2 (ja) * 2018-05-10 2022-08-26 パナソニックＩｐマネジメント株式会社 ロボット制御装置
JP6826076B2 (ja) 2018-07-17 2021-02-03 ファナック株式会社 自動経路生成装置
JP6823015B2 (ja) 2018-07-17 2021-01-27 ファナック株式会社 ロボットシステム
JP6825026B2 (ja) 2019-03-12 2021-02-03 キヤノン株式会社 情報処理装置、情報処理方法及びロボットシステム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103568008A (zh) * 2012-07-27 2014-02-12 精工爱普生株式会社 机器人系统以及机器人控制装置
CN106597989A (zh) * 2015-10-14 2017-04-26 发那科株式会社 进行避免和工件的干扰的定位的数值控制装置

Also Published As

Publication number Publication date
JPWO2022009333A1 (https=) 2022-01-13
US12214505B2 (en) 2025-02-04
WO2022009333A1 (ja) 2022-01-13
JP7313564B2 (ja) 2023-07-24
DE112020007414T5 (de) 2023-05-11
DE112020007414B4 (de) 2024-08-14
US20230226691A1 (en) 2023-07-20
CN115702064A (zh) 2023-02-14

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