CN116419827A - 机器人控制装置以及机器人系统 - Google Patents

机器人控制装置以及机器人系统 Download PDF

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Publication number
CN116419827A
CN116419827A CN202180072428.5A CN202180072428A CN116419827A CN 116419827 A CN116419827 A CN 116419827A CN 202180072428 A CN202180072428 A CN 202180072428A CN 116419827 A CN116419827 A CN 116419827A
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CN
China
Prior art keywords
robot
image
coordinate system
control
image processing
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
CN202180072428.5A
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English (en)
Chinese (zh)
Inventor
羽根干人
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.)
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 CN116419827A publication Critical patent/CN116419827A/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
    • B25J9/1633—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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • 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
    • B25J9/1658—Program controls characterised by programming, planning systems for manipulators characterised by programming language
    • 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
    • G05B2219/40032—Peg and hole insertion, mating and joining, remote center compliance
    • 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
    • G05B2219/40099—Graphical user interface for robotics, visual robot user interface
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20092—Interactive image processing based on input by user
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)
CN202180072428.5A 2020-11-02 2021-10-27 机器人控制装置以及机器人系统 Pending CN116419827A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020183920 2020-11-02
JP2020-183920 2020-11-02
PCT/JP2021/039711 WO2022092168A1 (ja) 2020-11-02 2021-10-27 ロボット制御装置及びロボットシステム

Publications (1)

Publication Number Publication Date
CN116419827A true CN116419827A (zh) 2023-07-11

Family

ID=81382643

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180072428.5A Pending CN116419827A (zh) 2020-11-02 2021-10-27 机器人控制装置以及机器人系统

Country Status (5)

Country Link
US (1) US12403594B2 (https=)
JP (1) JPWO2022092168A1 (https=)
CN (1) CN116419827A (https=)
DE (1) DE112021004632T5 (https=)
WO (1) WO2022092168A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022213568B3 (de) 2022-12-13 2024-02-29 Kuka Deutschland Gmbh Kalibrieren einer Steuerung
DE102023133636B3 (de) 2023-12-01 2025-02-06 IGZ Ingenieurgesellschaft für logistische Informationssysteme mbH Robotersystem und Verfahren mit Messung der Greifabweichung
JP7835824B1 (ja) * 2024-11-01 2026-03-25 株式会社ダイヘン ロボットシステム

Citations (8)

* Cited by examiner, † Cited by third party
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CN105729468A (zh) * 2016-01-27 2016-07-06 浙江大学 一种基于多深度摄像机增强的机器人工作台
CN106003018A (zh) * 2015-03-30 2016-10-12 精工爱普生株式会社 机器人、机器人控制装置以及机器人系统
US20170277167A1 (en) * 2016-03-24 2017-09-28 Seiko Epson Corporation Robot system, robot control device, and robot
CN107662098A (zh) * 2016-07-27 2018-02-06 精工爱普生株式会社 控制装置、机器人及机器人系统
CN108000515A (zh) * 2016-10-27 2018-05-08 精工爱普生株式会社 力控制坐标轴设定装置、机器人及力控制坐标轴设定方法
CN108972568A (zh) * 2017-05-31 2018-12-11 发那科株式会社 显示用于机器人的示教的信息的机器人系统
CN110712194A (zh) * 2018-07-13 2020-01-21 发那科株式会社 物体检查装置、物体检查系统以及调整检查位置的方法
JP2020075325A (ja) * 2018-11-08 2020-05-21 株式会社Ihi ツールセンターポイントの設定方法及び設定装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03251378A (ja) 1990-02-28 1991-11-08 Fanuc Ltd ロボットのキャリブレーション方式
JP3940998B2 (ja) * 2002-06-06 2007-07-04 株式会社安川電機 ロボット装置
DE10305384A1 (de) 2003-02-11 2004-08-26 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Visualisierung rechnergestützter Informationen
JP3708097B2 (ja) 2003-10-08 2005-10-19 ファナック株式会社 ロボットの手動送り装置
JP4191080B2 (ja) * 2004-04-07 2008-12-03 ファナック株式会社 計測装置
US20090118864A1 (en) * 2007-11-01 2009-05-07 Bryce Eldridge Method and system for finding a tool center point for a robot using an external camera
JP2013184257A (ja) * 2012-03-08 2013-09-19 Sony Corp ロボット装置及びロボット装置の制御方法、並びにコンピューター・プログラム
JP6489776B2 (ja) 2013-08-28 2019-03-27 キヤノン株式会社 座標系校正方法、ロボットシステム、プログラム及び記録媒体
US10730180B2 (en) * 2015-05-29 2020-08-04 Abb Schweiz Ag User interface for a teleoperated robot
JP7124440B2 (ja) * 2018-05-23 2022-08-24 セイコーエプソン株式会社 ロボット制御装置およびロボットシステム
JP6787966B2 (ja) 2018-10-02 2020-11-18 ファナック株式会社 拡張現実と複合現実を用いたロボット制御装置及び表示装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106003018A (zh) * 2015-03-30 2016-10-12 精工爱普生株式会社 机器人、机器人控制装置以及机器人系统
CN105729468A (zh) * 2016-01-27 2016-07-06 浙江大学 一种基于多深度摄像机增强的机器人工作台
US20170277167A1 (en) * 2016-03-24 2017-09-28 Seiko Epson Corporation Robot system, robot control device, and robot
CN107662098A (zh) * 2016-07-27 2018-02-06 精工爱普生株式会社 控制装置、机器人及机器人系统
CN108000515A (zh) * 2016-10-27 2018-05-08 精工爱普生株式会社 力控制坐标轴设定装置、机器人及力控制坐标轴设定方法
CN108972568A (zh) * 2017-05-31 2018-12-11 发那科株式会社 显示用于机器人的示教的信息的机器人系统
CN110712194A (zh) * 2018-07-13 2020-01-21 发那科株式会社 物体检查装置、物体检查系统以及调整检查位置的方法
JP2020075325A (ja) * 2018-11-08 2020-05-21 株式会社Ihi ツールセンターポイントの設定方法及び設定装置

Also Published As

Publication number Publication date
US12403594B2 (en) 2025-09-02
DE112021004632T5 (de) 2023-06-29
WO2022092168A1 (ja) 2022-05-05
JPWO2022092168A1 (https=) 2022-05-05
TW202218836A (zh) 2022-05-16
US20230321823A1 (en) 2023-10-12

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