CN116390835A - 系统控制装置、机器人控制方法、终端装置、终端控制方法以及机器人控制系统 - Google Patents

系统控制装置、机器人控制方法、终端装置、终端控制方法以及机器人控制系统 Download PDF

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Publication number
CN116390835A
CN116390835A CN202180070314.7A CN202180070314A CN116390835A CN 116390835 A CN116390835 A CN 116390835A CN 202180070314 A CN202180070314 A CN 202180070314A CN 116390835 A CN116390835 A CN 116390835A
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CN
China
Prior art keywords
robot
information
library
robot controller
control device
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
CN202180070314.7A
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English (en)
Chinese (zh)
Inventor
巽健人
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.)
Kyocera Corp
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Kyocera Corp
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Filing date
Publication date
Application filed by Kyocera Corp filed Critical Kyocera Corp
Publication of CN116390835A publication Critical patent/CN116390835A/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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Program controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • 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
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming 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
    • B25J9/1694—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
    • 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
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN202180070314.7A 2020-10-19 2021-10-19 系统控制装置、机器人控制方法、终端装置、终端控制方法以及机器人控制系统 Pending CN116390835A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020175506A JP7278246B2 (ja) 2020-10-19 2020-10-19 ロボット制御装置、ロボット制御方法、端末装置、端末制御方法、及びロボット制御システム
JP2020-175506 2020-10-19
PCT/JP2021/038669 WO2022085699A1 (ja) 2020-10-19 2021-10-19 システム制御装置、ロボット制御方法、端末装置、端末制御方法、及びロボット制御システム

Publications (1)

Publication Number Publication Date
CN116390835A true CN116390835A (zh) 2023-07-04

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CN202180070314.7A Pending CN116390835A (zh) 2020-10-19 2021-10-19 系统控制装置、机器人控制方法、终端装置、终端控制方法以及机器人控制系统

Country Status (5)

Country Link
US (1) US20230381962A1 (https=)
EP (1) EP4230361A4 (https=)
JP (3) JP7278246B2 (https=)
CN (1) CN116390835A (https=)
WO (1) WO2022085699A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7278246B2 (ja) * 2020-10-19 2023-05-19 京セラ株式会社 ロボット制御装置、ロボット制御方法、端末装置、端末制御方法、及びロボット制御システム
WO2023013784A1 (ja) * 2021-08-05 2023-02-09 京セラ株式会社 ライブラリ提示装置、ライブラリ提示方法及びロボット制御システム
CN121038936A (zh) * 2023-03-31 2025-11-28 索尼集团公司 控制方法、控制装置、生成方法和生成装置

Citations (4)

* Cited by examiner, † Cited by third party
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US20110288667A1 (en) * 2009-02-12 2011-11-24 Kyoto University Industrial robot system
CN108687760A (zh) * 2017-03-30 2018-10-23 株式会社安川电机 机器人动作指令生成方法以及机器人动作指令生成装置
CN108958171A (zh) * 2017-05-17 2018-12-07 发那科株式会社 机床控制装置以及生产系统
CN110536783A (zh) * 2017-04-19 2019-12-03 株式会社安川电机 编程支持装置、机器人系统、编程支持方法以及程序生成方法

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JPH054181A (ja) 1991-06-24 1993-01-14 Toshiba Corp ロボツト制御装置
JP3098470B2 (ja) * 1997-09-12 2000-10-16 鹿児島日本電気株式会社 無人搬送車の搬送制御装置およびその制御方法
JP4296736B2 (ja) * 2000-10-13 2009-07-15 ソニー株式会社 ロボット装置
JP2005011001A (ja) * 2003-06-18 2005-01-13 Ricoh Co Ltd バスモニター装置、プログラムおよび記録媒体
WO2015166574A1 (ja) * 2014-05-01 2015-11-05 本田技研工業株式会社 多関節ロボットのティーチングデータ作成装置及び作成方法
US9840007B1 (en) * 2014-08-25 2017-12-12 X Development Llc Robotic operation libraries
JP6585393B2 (ja) * 2015-06-15 2019-10-02 蛇の目ミシン工業株式会社 ロボット
JP6764796B2 (ja) * 2017-01-26 2020-10-07 株式会社日立製作所 ロボット制御システムおよびロボット制御方法
EP3658340A2 (en) * 2017-07-25 2020-06-03 MBL Limited Systems and methods for operating a robotic system and executing robotic interactions
WO2018172593A2 (es) * 2018-05-25 2018-09-27 Erle Robotics, S.L Método para integrar nuevos módulos en robots modulares, y un componente de robot del mismo
CN108748152B (zh) * 2018-06-07 2021-06-29 上海大学 一种机器人示教方法及系统
JP2020138255A (ja) * 2019-02-27 2020-09-03 セイコーエプソン株式会社 ロボット制御システム及びロボット制御方法
JP7523384B2 (ja) * 2020-03-27 2024-07-26 三菱電機株式会社 タスクを実行するロボットの動作を制御するコントローラおよび方法
CN111596614B (zh) * 2020-06-02 2021-06-25 中国科学院自动化研究所 基于云边协同的运动控制误差补偿系统及方法
JP7442413B2 (ja) * 2020-08-28 2024-03-04 川崎重工業株式会社 シミュレーション装置及びシミュレーションシステム
JP7278246B2 (ja) * 2020-10-19 2023-05-19 京セラ株式会社 ロボット制御装置、ロボット制御方法、端末装置、端末制御方法、及びロボット制御システム
US20240051134A1 (en) * 2020-12-18 2024-02-15 Kawasaki Jukogyo Kabushiki Kaisha Controller, robot system and learning device
WO2022215262A1 (ja) * 2021-04-09 2022-10-13 日本電気株式会社 ロボット管理装置、制御方法及び記憶媒体

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110288667A1 (en) * 2009-02-12 2011-11-24 Kyoto University Industrial robot system
CN108687760A (zh) * 2017-03-30 2018-10-23 株式会社安川电机 机器人动作指令生成方法以及机器人动作指令生成装置
CN110536783A (zh) * 2017-04-19 2019-12-03 株式会社安川电机 编程支持装置、机器人系统、编程支持方法以及程序生成方法
CN108958171A (zh) * 2017-05-17 2018-12-07 发那科株式会社 机床控制装置以及生产系统

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Publication number Publication date
WO2022085699A1 (ja) 2022-04-28
US20230381962A1 (en) 2023-11-30
JP7278246B2 (ja) 2023-05-19
JP2022066906A (ja) 2022-05-02
JP7478862B2 (ja) 2024-05-07
JP2023038338A (ja) 2023-03-16
JP2024023927A (ja) 2024-02-21
EP4230361A1 (en) 2023-08-23
EP4230361A4 (en) 2025-03-05

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