CN116348257A - 机器人控制方法 - Google Patents

机器人控制方法 Download PDF

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Publication number
CN116348257A
CN116348257A CN202180072683.XA CN202180072683A CN116348257A CN 116348257 A CN116348257 A CN 116348257A CN 202180072683 A CN202180072683 A CN 202180072683A CN 116348257 A CN116348257 A CN 116348257A
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CN
China
Prior art keywords
information
robot
control
target
sensor
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
CN202180072683.XA
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English (en)
Chinese (zh)
Inventor
山仓佑马
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.)
Panasonic Intellectual Property Management Co Ltd
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Panasonic Intellectual Property Management Co Ltd
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Filing date
Publication date
Application filed by Panasonic Intellectual Property Management Co Ltd filed Critical Panasonic Intellectual Property Management Co Ltd
Publication of CN116348257A publication Critical patent/CN116348257A/zh
Pending legal-status Critical Current

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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
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • G05B2219/40557—Tracking a tool, compute 3-D position relative to camera
    • 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
    • G05B2219/40584—Camera, non-contact sensor mounted on wrist, indep from gripper

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN202180072683.XA 2020-10-30 2021-10-20 机器人控制方法 Pending CN116348257A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020-182018 2020-10-30
JP2020182018 2020-10-30
PCT/JP2021/038697 WO2022091895A1 (ja) 2020-10-30 2021-10-20 ロボット制御方法

Publications (1)

Publication Number Publication Date
CN116348257A true CN116348257A (zh) 2023-06-27

Family

ID=81382337

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180072683.XA Pending CN116348257A (zh) 2020-10-30 2021-10-20 机器人控制方法

Country Status (6)

Country Link
US (1) US12515344B2 (https=)
EP (1) EP4238720A4 (https=)
JP (1) JP7482359B2 (https=)
CN (1) CN116348257A (https=)
TW (1) TW202231427A (https=)
WO (1) WO2022091895A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20250285320A1 (en) * 2021-03-10 2025-09-11 Kawasaki Jukogyo Kabushiki Kaisha Own position estimating system and own position estimating method
JP7590577B2 (ja) * 2021-07-12 2024-11-26 株式会社安川電機 ロボット制御システム、ロボットシステム、ロボット制御方法、およびロボット制御プログラム

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011212764A (ja) * 2010-03-31 2011-10-27 Toyota Motor Corp ロボットの遠隔操作システム
US20130238128A1 (en) * 2012-03-09 2013-09-12 Canon Kabushiki Kaisha Information processing apparatus and information processing method
US20140229005A1 (en) * 2013-02-14 2014-08-14 Canon Kabushiki Kaisha Robot system and method for controlling the same
CN104339353A (zh) * 2013-07-26 2015-02-11 株式会社安川电机 机器人系统、生产管理计算机和生产管理计算机的控制方法
CN106426186A (zh) * 2016-12-14 2017-02-22 国网江苏省电力公司常州供电公司 一种基于多传感器信息融合的带电作业机器人自主作业方法
CN110740841A (zh) * 2017-06-13 2020-01-31 川崎重工业株式会社 作业系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3326851B2 (ja) * 1993-03-08 2002-09-24 株式会社デンソー 視覚に基く三次元位置および姿勢の認識方法とその装置
JP2003015739A (ja) * 2001-07-02 2003-01-17 Yaskawa Electric Corp 外環境地図、並びに自己位置同定装置および誘導制御装置
JP2003305675A (ja) 2002-04-15 2003-10-28 Denso Wave Inc 視覚認識装置
JP4961860B2 (ja) * 2006-06-27 2012-06-27 トヨタ自動車株式会社 ロボット装置及びロボット装置の制御方法
JP2015003348A (ja) * 2013-06-19 2015-01-08 セイコーエプソン株式会社 ロボット制御システム、制御装置、ロボット、ロボット制御システムの制御方法及びロボットの制御方法
JP7323993B2 (ja) * 2017-10-19 2023-08-09 キヤノン株式会社 制御装置、ロボットシステム、制御装置の動作方法及びプログラム
US11358290B2 (en) 2017-10-19 2022-06-14 Canon Kabushiki Kaisha Control apparatus, robot system, method for operating control apparatus, and storage medium
JP2020146773A (ja) * 2019-03-12 2020-09-17 株式会社不二越 ハンドリング装置およびロボット装置
EP4221944A1 (en) * 2020-11-10 2023-08-09 Bright Machines, Inc. Method and system for improved auto-calibration of a robotic cell

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011212764A (ja) * 2010-03-31 2011-10-27 Toyota Motor Corp ロボットの遠隔操作システム
US20130238128A1 (en) * 2012-03-09 2013-09-12 Canon Kabushiki Kaisha Information processing apparatus and information processing method
US20140229005A1 (en) * 2013-02-14 2014-08-14 Canon Kabushiki Kaisha Robot system and method for controlling the same
CN104339353A (zh) * 2013-07-26 2015-02-11 株式会社安川电机 机器人系统、生产管理计算机和生产管理计算机的控制方法
CN106426186A (zh) * 2016-12-14 2017-02-22 国网江苏省电力公司常州供电公司 一种基于多传感器信息融合的带电作业机器人自主作业方法
CN110740841A (zh) * 2017-06-13 2020-01-31 川崎重工业株式会社 作业系统

Also Published As

Publication number Publication date
EP4238720A1 (en) 2023-09-06
TW202231427A (zh) 2022-08-16
US20230256614A1 (en) 2023-08-17
JP7482359B2 (ja) 2024-05-14
EP4238720A4 (en) 2024-04-10
US12515344B2 (en) 2026-01-06
WO2022091895A1 (ja) 2022-05-05
JPWO2022091895A1 (https=) 2022-05-05

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