CN116018244B - 机器人的碰撞检测装置 - Google Patents

机器人的碰撞检测装置

Info

Publication number
CN116018244B
CN116018244B CN202080103192.2A CN202080103192A CN116018244B CN 116018244 B CN116018244 B CN 116018244B CN 202080103192 A CN202080103192 A CN 202080103192A CN 116018244 B CN116018244 B CN 116018244B
Authority
CN
China
Prior art keywords
robot
unit
torque
calculation unit
estimation error
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
CN202080103192.2A
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English (en)
Chinese (zh)
Other versions
CN116018244A (zh
Inventor
前川清石
斋藤晓生
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
Original Assignee
Mitsubishi Electric 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 Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of CN116018244A publication Critical patent/CN116018244A/zh
Application granted granted Critical
Publication of CN116018244B publication Critical patent/CN116018244B/zh
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Anticipated expiration legal-status Critical

Links

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
    • B25J9/1628—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
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • G05B2219/40201—Detect contact, collision with human

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN202080103192.2A 2020-10-05 2020-10-05 机器人的碰撞检测装置 Active CN116018244B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/037680 WO2022074703A1 (ja) 2020-10-05 2020-10-05 ロボットの衝突検知装置

Publications (2)

Publication Number Publication Date
CN116018244A CN116018244A (zh) 2023-04-25
CN116018244B true CN116018244B (zh) 2025-08-05

Family

ID=81126753

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080103192.2A Active CN116018244B (zh) 2020-10-05 2020-10-05 机器人的碰撞检测装置

Country Status (4)

Country Link
JP (1) JP7325656B2 (https=)
CN (1) CN116018244B (https=)
DE (1) DE112020007659T5 (https=)
WO (1) WO2022074703A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI764377B (zh) * 2020-11-16 2022-05-11 達明機器人股份有限公司 機器人安全補償重量的系統及方法
JP7398024B1 (ja) 2023-07-04 2023-12-13 株式会社ユーシン精機 衝突検知方法及び衝突検知システム

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014018941A (ja) * 2012-07-23 2014-02-03 Daihen Corp 制御装置、及び制御方法
JP2020019117A (ja) * 2018-08-02 2020-02-06 株式会社神戸製鋼所 ロボット制御装置、ロボット制御方法及びプログラム

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4055090B2 (ja) * 1997-07-08 2008-03-05 株式会社安川電機 ロボットの制御装置
JP3878054B2 (ja) * 2001-05-08 2007-02-07 三菱電機株式会社 ロボット制御装置
JP4223911B2 (ja) * 2003-09-25 2009-02-12 株式会社神戸製鋼所 衝突検知方法及び衝突検知装置
JP5902425B2 (ja) * 2011-09-21 2016-04-13 株式会社東芝 ロボット制御装置、外乱判定方法およびアクチュエータ制御方法
FR3002048B1 (fr) 2013-02-14 2016-07-01 Commissariat Energie Atomique Procede de detection amelioree de collision d'un robot avec son environnement, systeme et produit programme d'ordinateur mettant en œuvre le procede
EP3351356B1 (en) * 2015-09-16 2020-11-18 Panasonic Intellectual Property Management Co., Ltd. Robot collision detection method
CN106826819B (zh) * 2017-01-15 2019-07-30 上海新时达电气股份有限公司 桁架机器人防碰撞检测方法及装置
JP6572265B2 (ja) * 2017-06-30 2019-09-04 ファナック株式会社 制御装置及び機械学習装置
CN107253196B (zh) * 2017-08-01 2021-05-04 中科新松有限公司 一种机械臂碰撞检测方法、装置、设备及存储介质

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014018941A (ja) * 2012-07-23 2014-02-03 Daihen Corp 制御装置、及び制御方法
JP2020019117A (ja) * 2018-08-02 2020-02-06 株式会社神戸製鋼所 ロボット制御装置、ロボット制御方法及びプログラム

Also Published As

Publication number Publication date
JPWO2022074703A1 (https=) 2022-04-14
DE112020007659T5 (de) 2023-08-03
JP7325656B2 (ja) 2023-08-14
WO2022074703A1 (ja) 2022-04-14
CN116018244A (zh) 2023-04-25

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