CN116056845A - 干涉检查装置 - Google Patents

干涉检查装置 Download PDF

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Publication number
CN116056845A
CN116056845A CN202080103985.4A CN202080103985A CN116056845A CN 116056845 A CN116056845 A CN 116056845A CN 202080103985 A CN202080103985 A CN 202080103985A CN 116056845 A CN116056845 A CN 116056845A
Authority
CN
China
Prior art keywords
interference
unit
robot
check device
correction
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
CN202080103985.4A
Other languages
English (en)
Chinese (zh)
Inventor
前川清石
春尾七星
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
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 CN116056845A publication Critical patent/CN116056845A/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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—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—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
    • 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
    • G05B2219/39082—Collision, real time collision avoidance
    • 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
    • G05B2219/39091—Avoid collision with moving obstacles
    • 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
    • G05B2219/39185—ANN as compensator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
CN202080103985.4A 2020-10-12 2020-10-12 干涉检查装置 Pending CN116056845A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/038482 WO2022079764A1 (ja) 2020-10-12 2020-10-12 干渉チェック装置

Publications (1)

Publication Number Publication Date
CN116056845A true CN116056845A (zh) 2023-05-02

Family

ID=81207782

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080103985.4A Pending CN116056845A (zh) 2020-10-12 2020-10-12 干涉检查装置

Country Status (4)

Country Link
JP (1) JP7357808B2 (ja)
CN (1) CN116056845A (ja)
DE (1) DE112020007676T5 (ja)
WO (1) WO2022079764A1 (ja)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07223181A (ja) * 1994-02-09 1995-08-22 Yaskawa Electric Corp マニピュレータの干渉チェック装置
JP2875498B2 (ja) * 1995-07-18 1999-03-31 株式会社神戸製鋼所 ロボットマニピュレータの移動経路の自動生成方法
JP6807949B2 (ja) * 2016-11-16 2021-01-06 三菱電機株式会社 干渉回避装置
JP7145700B2 (ja) 2018-09-06 2022-10-03 株式会社東芝 ハンド制御装置

Also Published As

Publication number Publication date
DE112020007676T5 (de) 2023-08-03
WO2022079764A1 (ja) 2022-04-21
JP7357808B2 (ja) 2023-10-06
JPWO2022079764A1 (ja) 2022-04-21

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