CN116209547A - 控制装置以及机器人系统 - Google Patents

控制装置以及机器人系统 Download PDF

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Publication number
CN116209547A
CN116209547A CN202180060250.2A CN202180060250A CN116209547A CN 116209547 A CN116209547 A CN 116209547A CN 202180060250 A CN202180060250 A CN 202180060250A CN 116209547 A CN116209547 A CN 116209547A
Authority
CN
China
Prior art keywords
shaft
control
motor
axis
follow
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
CN202180060250.2A
Other languages
English (en)
Chinese (zh)
Inventor
有田创一
小栗健一郎
泽田和辉
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 CN116209547A publication Critical patent/CN116209547A/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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1651—Program controls characterised by the control loop acceleration, rate control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
CN202180060250.2A 2020-07-31 2021-07-27 控制装置以及机器人系统 Pending CN116209547A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020130903 2020-07-31
JP2020-130903 2020-07-31
PCT/JP2021/027780 WO2022025072A1 (ja) 2020-07-31 2021-07-27 制御装置及びロボットシステム

Publications (1)

Publication Number Publication Date
CN116209547A true CN116209547A (zh) 2023-06-02

Family

ID=80036609

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180060250.2A Pending CN116209547A (zh) 2020-07-31 2021-07-27 控制装置以及机器人系统

Country Status (5)

Country Link
US (1) US20230302639A1 (https=)
JP (1) JP7392159B2 (https=)
CN (1) CN116209547A (https=)
DE (1) DE112021002634B4 (https=)
WO (1) WO2022025072A1 (https=)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4984959A (en) * 1988-07-13 1991-01-15 Mitsubishi Denki Kabushiki Kaisha Industrial robot
JPH0663884A (ja) * 1992-08-20 1994-03-08 Tokico Ltd 位置検出装置
CN102029608A (zh) * 2009-09-24 2011-04-27 鸿富锦精密工业（深圳）有限公司 机器人
CN105965505A (zh) * 2015-03-13 2016-09-28 佳能株式会社 机器人控制方法、机器人装置、程序和记录介质
CN106863347A (zh) * 2017-03-07 2017-06-20 江苏安格尔机器人有限公司 一种模块化两自由度机器人关节

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03281083A (ja) * 1990-03-29 1991-12-11 Fanuc Ltd Ｃｎｃレーザ加工機の姿勢制御方式
JP2572483B2 (ja) * 1990-10-16 1997-01-16 本田技研工業株式会社 産業用ロボット装置
JP2000000785A (ja) * 1998-06-11 2000-01-07 Meidensha Corp マニプレータの制御装置
JP4765995B2 (ja) * 2007-04-27 2011-09-07 セイコーエプソン株式会社 ロボット、及び、ロボット用のアタッチメント
JP5370392B2 (ja) * 2011-02-23 2013-12-18 株式会社安川電機 ロボットシステム、ロボット制御装置およびロボット制御方法
DE112012006256B4 (de) * 2012-04-20 2015-11-19 Mitsubishi Electric Corporation Robotergelenkstruktur
JP6684556B2 (ja) * 2015-08-28 2020-04-22 株式会社電通 データ変換装置、ロボット、プログラム及び情報処理方法
JP7117827B2 (ja) * 2017-05-18 2022-08-15 川崎重工業株式会社 モータ制御システム、モータ制御システムの制御方法、及びロボットシステム
EP3653347B1 (en) * 2017-07-11 2024-09-11 Panasonic Intellectual Property Management Co., Ltd. Robot control device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4984959A (en) * 1988-07-13 1991-01-15 Mitsubishi Denki Kabushiki Kaisha Industrial robot
JPH0663884A (ja) * 1992-08-20 1994-03-08 Tokico Ltd 位置検出装置
CN102029608A (zh) * 2009-09-24 2011-04-27 鸿富锦精密工业（深圳）有限公司 机器人
CN105965505A (zh) * 2015-03-13 2016-09-28 佳能株式会社 机器人控制方法、机器人装置、程序和记录介质
CN106863347A (zh) * 2017-03-07 2017-06-20 江苏安格尔机器人有限公司 一种模块化两自由度机器人关节

Also Published As

Publication number Publication date
JPWO2022025072A1 (https=) 2022-02-03
DE112021002634T5 (de) 2023-03-23
DE112021002634B4 (de) 2025-05-15
JP7392159B2 (ja) 2023-12-05
WO2022025072A1 (ja) 2022-02-03
US20230302639A1 (en) 2023-09-28

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