CN116572230A - 机器人系统及控制方法 - Google Patents

机器人系统及控制方法 Download PDF

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Publication number
CN116572230A
CN116572230A CN202310141555.7A CN202310141555A CN116572230A CN 116572230 A CN116572230 A CN 116572230A CN 202310141555 A CN202310141555 A CN 202310141555A CN 116572230 A CN116572230 A CN 116572230A
Authority
CN
China
Prior art keywords
command
unit
robot
path
commands
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
CN202310141555.7A
Other languages
English (en)
Chinese (zh)
Inventor
前田贵宏
丸野元春
有田裕太
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.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric 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 Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Priority to CN202410801147.4A priority Critical patent/CN118559714B/zh
Publication of CN116572230A publication Critical patent/CN116572230A/zh
Pending legal-status Critical Current

Links

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
    • B25J9/1656—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
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B25J13/00—Controls 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
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • 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
    • G05B2219/39102—Manipulator cooperating with conveyor
    • 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
    • G05B2219/40317—For collision avoidance and detection
    • 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
    • G05B2219/40515—Integration of simulation and planning

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
CN202310141555.7A 2022-02-10 2023-02-08 机器人系统及控制方法 Pending CN116572230A (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202410801147.4A CN118559714B (zh) 2022-02-10 2023-02-08 机器人系统及控制方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022019414A JP7485705B2 (ja) 2022-02-10 2022-02-10 ロボットシステム、タスク生成装置及び制御方法
JP2022-019414 2022-02-10

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202410801147.4A Division CN118559714B (zh) 2022-02-10 2023-02-08 机器人系统及控制方法

Publications (1)

Publication Number Publication Date
CN116572230A true CN116572230A (zh) 2023-08-11

Family

ID=85172385

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202310141555.7A Pending CN116572230A (zh) 2022-02-10 2023-02-08 机器人系统及控制方法
CN202410801147.4A Active CN118559714B (zh) 2022-02-10 2023-02-08 机器人系统及控制方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202410801147.4A Active CN118559714B (zh) 2022-02-10 2023-02-08 机器人系统及控制方法

Country Status (4)

Country Link
US (1) US12377543B2 (https=)
EP (1) EP4227044B1 (https=)
JP (2) JP7485705B2 (https=)
CN (2) CN116572230A (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4592041A1 (en) * 2024-01-26 2025-07-30 Kabushiki Kaisha Yaskawa Denki Robot system and control method

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102925490B1 (ko) * 2023-04-19 2026-02-11 한국전자통신연구원 고난이도 작업을 위한 로봇 교시 방법 및 장치

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JPS61272803A (ja) * 1985-05-29 1986-12-03 Hitachi Ltd 数値制御加工方式
JPS62157911A (ja) * 1985-12-28 1987-07-13 Fanuc Ltd ロボツトのパスデ−タ作成方法
JP4103057B2 (ja) 1998-06-29 2008-06-18 株式会社安川電機 ロボットの動作経路計画方法およびその装置
JP4033817B2 (ja) 2003-07-02 2008-01-16 株式会社カネヒラ 形状加工方法
JP2006099260A (ja) 2004-09-28 2006-04-13 Fanuc Ltd ロボットプログラム作成装置
ATE412929T1 (de) 2006-09-14 2008-11-15 Abb Research Ltd Verfahren und vorrichtung zur vermeidung von kollisionen zwischen einem industrieroboter und einem objekt
WO2011150534A1 (zh) 2010-06-04 2011-12-08 中国科学院自动化研究所 加速度连续的机器人轨迹生成系统和方法
JP5659890B2 (ja) 2011-03-14 2015-01-28 トヨタ自動車株式会社 ロボットの軌道計画システム及び軌道計画方法
WO2015120864A1 (en) * 2014-02-13 2015-08-20 Abb Technology Ag Robot system and method for controlling the robot system
US9272417B2 (en) * 2014-07-16 2016-03-01 Google Inc. Real-time determination of object metrics for trajectory planning
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JP6879009B2 (ja) 2017-03-30 2021-06-02 株式会社安川電機 ロボット動作指令生成方法、ロボット動作指令生成装置及びコンピュータプログラム
JP7077800B2 (ja) 2018-06-11 2022-05-31 オムロン株式会社 経路計画装置、経路計画方法、及び経路計画プログラム
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4592041A1 (en) * 2024-01-26 2025-07-30 Kabushiki Kaisha Yaskawa Denki Robot system and control method

Also Published As

Publication number Publication date
US20230249347A1 (en) 2023-08-10
US12377543B2 (en) 2025-08-05
EP4227044A1 (en) 2023-08-16
JP2024102220A (ja) 2024-07-30
JP7807486B2 (ja) 2026-01-27
CN118559714B (zh) 2025-06-27
JP2023116978A (ja) 2023-08-23
JP7485705B2 (ja) 2024-05-16
EP4227044B1 (en) 2025-11-19
CN118559714A (zh) 2024-08-30

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