CN116615315A - 机器人系统以及机器人移动控制装置 - Google Patents

机器人系统以及机器人移动控制装置 Download PDF

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Publication number
CN116615315A
CN116615315A CN202180085423.6A CN202180085423A CN116615315A CN 116615315 A CN116615315 A CN 116615315A CN 202180085423 A CN202180085423 A CN 202180085423A CN 116615315 A CN116615315 A CN 116615315A
Authority
CN
China
Prior art keywords
robot
movement
coordinate system
fingertip
arm
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
CN202180085423.6A
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English (en)
Chinese (zh)
Inventor
落石好纪
饭岛浩
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 CN116615315A publication Critical patent/CN116615315A/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
    • B25J9/1656—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
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
CN202180085423.6A 2020-12-22 2021-12-15 机器人系统以及机器人移动控制装置 Pending CN116615315A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020211965 2020-12-22
JP2020-211965 2020-12-22
PCT/JP2021/046228 WO2022138367A1 (ja) 2020-12-22 2021-12-15 ロボットシステム及びロボット移動制御装置

Publications (1)

Publication Number Publication Date
CN116615315A true CN116615315A (zh) 2023-08-18

Family

ID=82159172

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180085423.6A Pending CN116615315A (zh) 2020-12-22 2021-12-15 机器人系统以及机器人移动控制装置

Country Status (5)

Country Link
US (1) US20240051133A1 (https=)
JP (1) JP7477653B2 (https=)
CN (1) CN116615315A (https=)
DE (1) DE112021005261T5 (https=)
WO (1) WO2022138367A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20260077495A1 (en) * 2022-09-12 2026-03-19 Fanuc Corporation Robot apparatus

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010064198A (ja) * 2008-09-11 2010-03-25 Kawada Kogyo Kk ロボットの作業位置修正システムおよびそのシステムを備えた簡易設置型ロボット
JP2011108156A (ja) * 2009-11-20 2011-06-02 Japan Science & Technology Agency 料理プロセス指示装置及び料理プロセス指示方法
JP2011189440A (ja) * 2010-03-12 2011-09-29 Fuji Electric Co Ltd ロボット制御装置、ロボットシステム、プログラムおよびロボットの制御方法
US20170120442A1 (en) * 2015-11-03 2017-05-04 Kurion, Inc. System and method for inspection and maintenance of hazardous spaces
CN111941398A (zh) * 2020-08-18 2020-11-17 山东大学日照智能制造研究院 一种多机械臂加工系统及工作方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08174449A (ja) * 1994-12-26 1996-07-09 Mitsubishi Motors Corp ワーク搬送ロボット
JP4538859B2 (ja) 1999-03-31 2010-09-08 株式会社安川電機 工業用ロボット
JP2005329515A (ja) * 2004-05-21 2005-12-02 Hitachi Ltd サービスロボットシステム
JP4217918B2 (ja) 2006-11-28 2009-02-04 村田機械株式会社 移動体システム
KR101246073B1 (ko) * 2010-12-08 2013-03-21 삼성중공업 주식회사 로봇 제어 장치 및 방법
JP5333537B2 (ja) 2011-07-22 2013-11-06 村田機械株式会社 移動体システムと移動体の走行制御方法
JP6706489B2 (ja) * 2015-11-24 2020-06-10 川崎重工業株式会社 ロボットのダイレクト教示方法
US20230381955A1 (en) * 2022-05-31 2023-11-30 Herkules Equipment Corporation Mobile robot including a lift assembly and a low-profile drive mechanism

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010064198A (ja) * 2008-09-11 2010-03-25 Kawada Kogyo Kk ロボットの作業位置修正システムおよびそのシステムを備えた簡易設置型ロボット
JP2011108156A (ja) * 2009-11-20 2011-06-02 Japan Science & Technology Agency 料理プロセス指示装置及び料理プロセス指示方法
JP2011189440A (ja) * 2010-03-12 2011-09-29 Fuji Electric Co Ltd ロボット制御装置、ロボットシステム、プログラムおよびロボットの制御方法
US20170120442A1 (en) * 2015-11-03 2017-05-04 Kurion, Inc. System and method for inspection and maintenance of hazardous spaces
CN111941398A (zh) * 2020-08-18 2020-11-17 山东大学日照智能制造研究院 一种多机械臂加工系统及工作方法

Also Published As

Publication number Publication date
TW202224875A (zh) 2022-07-01
WO2022138367A1 (ja) 2022-06-30
DE112021005261T5 (de) 2023-08-03
JP7477653B2 (ja) 2024-05-01
JPWO2022138367A1 (https=) 2022-06-30
US20240051133A1 (en) 2024-02-15

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