CN116194255A - 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 Download PDF

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Publication number
CN116194255A
CN116194255A CN202180060765.2A CN202180060765A CN116194255A CN 116194255 A CN116194255 A CN 116194255A CN 202180060765 A CN202180060765 A CN 202180060765A CN 116194255 A CN116194255 A CN 116194255A
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China
Prior art keywords
point
deformation
grip
force
gripping
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Pending
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CN202180060765.2A
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English (en)
Chinese (zh)
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白土浩司
土桥宏规
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Publication of CN116194255A publication Critical patent/CN116194255A/zh
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    • 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
    • B25J9/1612—Program controls characterised by the hand, wrist, grip 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
    • G05B2219/39469—Grip flexible, deformable plate, object and manipulate it
    • 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
    • G05B2219/39507—Control of slip motion

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN202180060765.2A 2020-10-19 2021-10-04 机器人控制装置及机器人控制方法 Pending CN116194255A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020175203 2020-10-19
JP2020-175203 2020-10-19
PCT/JP2021/036652 WO2022085408A1 (ja) 2020-10-19 2021-10-04 ロボット制御装置およびロボット制御方法

Publications (1)

Publication Number Publication Date
CN116194255A true CN116194255A (zh) 2023-05-30

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CN202180060765.2A Pending CN116194255A (zh) 2020-10-19 2021-10-04 机器人控制装置及机器人控制方法

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JP (1) JP7337285B2 (https=)
CN (1) CN116194255A (https=)
DE (1) DE112021005493B4 (https=)
WO (1) WO2022085408A1 (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
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CN116673955A (zh) * 2023-06-14 2023-09-01 武汉理工大学 一种基于深度学习的柔性物体外肢体操作方法及系统
CN120206541A (zh) * 2025-05-28 2025-06-27 温州职业技术学院 锻件运输控制方法、系统及设备

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* Cited by examiner, † Cited by third party
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JP7840998B2 (ja) 2022-02-08 2026-04-06 株式会社東芝 ハンドリングシステム、ハンドリング方法、プログラム、情報処理装置、及びデータ構造
JP7813984B2 (ja) * 2022-06-30 2026-02-16 パナソニックＩｐマネジメント株式会社 データ収集装置および制御装置
DE102023110107B3 (de) 2023-04-20 2024-05-23 J.Schmalz Gmbh Verfahren zum Handhaben von Gegenständen sowie Handhabungsanlage
DE102023110111B3 (de) 2023-04-20 2024-06-06 J.Schmalz Gmbh Verfahren zum Ansteuern einer Handhabungsanlage sowie Handhabungsanlage
JPWO2024257546A1 (https=) * 2023-06-15 2024-12-19
JP2025090123A (ja) * 2023-12-05 2025-06-17 トヨタ自動車株式会社 制御装置、学習装置、及び訓練データ生成装置

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JP2016196077A (ja) * 2015-04-06 2016-11-24 キヤノン株式会社 情報処理装置、情報処理方法、およびプログラム
JP2016221647A (ja) * 2015-06-02 2016-12-28 キヤノン株式会社 把持制御装置、把持制御方法及びプログラム
JP2018069381A (ja) * 2016-10-28 2018-05-10 キヤノン株式会社 把持装置の制御方法、把持装置、ロボット装置、および部品の製造方法
WO2018092254A1 (ja) * 2016-11-17 2018-05-24 株式会社安川電機 把持力設定システム、把持力設定方法、及び把持力推定システム
CN110355774A (zh) * 2018-04-10 2019-10-22 发那科株式会社 手控制装置及手控制系统
WO2020065717A1 (ja) * 2018-09-25 2020-04-02 株式会社ソニー・インタラクティブエンタテインメント 情報処理装置、情報処理システム、および物体情報取得方法

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JP4211701B2 (ja) * 2004-07-21 2009-01-21 トヨタ自動車株式会社 ロボットハンドの把持制御装置
JP2008049459A (ja) 2006-08-28 2008-03-06 Toshiba Corp マニピュレータ制御システム、マニピュレータ制御方法およびプログラム
JP4890199B2 (ja) 2006-11-09 2012-03-07 本田技研工業株式会社 ロボットハンドおよびロボット
JP6807949B2 (ja) * 2016-11-16 2021-01-06 三菱電機株式会社 干渉回避装置
JP7136554B2 (ja) * 2017-12-18 2022-09-13 国立大学法人信州大学 把持装置、学習装置、プログラム、把持システム、及び学習方法
US10766149B2 (en) 2018-03-23 2020-09-08 Amazon Technologies, Inc. Optimization-based spring lattice deformation model for soft materials
JP6836606B2 (ja) * 2018-04-24 2021-03-03 ファナック株式会社 ロボット制御装置およびシステム
US11584016B2 (en) 2018-04-24 2023-02-21 Fanuc Corporation Robot controller and system
DE102019122790B4 (de) 2018-08-24 2021-03-25 Nvidia Corp. Robotersteuerungssystem

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016196077A (ja) * 2015-04-06 2016-11-24 キヤノン株式会社 情報処理装置、情報処理方法、およびプログラム
JP2016221647A (ja) * 2015-06-02 2016-12-28 キヤノン株式会社 把持制御装置、把持制御方法及びプログラム
JP2018069381A (ja) * 2016-10-28 2018-05-10 キヤノン株式会社 把持装置の制御方法、把持装置、ロボット装置、および部品の製造方法
WO2018092254A1 (ja) * 2016-11-17 2018-05-24 株式会社安川電機 把持力設定システム、把持力設定方法、及び把持力推定システム
CN110355774A (zh) * 2018-04-10 2019-10-22 发那科株式会社 手控制装置及手控制系统
WO2020065717A1 (ja) * 2018-09-25 2020-04-02 株式会社ソニー・インタラクティブエンタテインメント 情報処理装置、情報処理システム、および物体情報取得方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116673955A (zh) * 2023-06-14 2023-09-01 武汉理工大学 一种基于深度学习的柔性物体外肢体操作方法及系统
CN120206541A (zh) * 2025-05-28 2025-06-27 温州职业技术学院 锻件运输控制方法、系统及设备

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WO2022085408A1 (ja) 2022-04-28
JPWO2022085408A1 (https=) 2022-04-28
DE112021005493T5 (de) 2023-08-31
JP7337285B2 (ja) 2023-09-01
DE112021005493B4 (de) 2024-11-14

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