CN116728399A - 具有物体处理的机器人系统的系统和方法 - Google Patents

具有物体处理的机器人系统的系统和方法 Download PDF

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Publication number
CN116728399A
CN116728399A CN202310228334.3A CN202310228334A CN116728399A CN 116728399 A CN116728399 A CN 116728399A CN 202310228334 A CN202310228334 A CN 202310228334A CN 116728399 A CN116728399 A CN 116728399A
Authority
CN
China
Prior art keywords
end effector
target object
effector device
objects
approach
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
CN202310228334.3A
Other languages
English (en)
Chinese (zh)
Inventor
碓井渓
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.)
Mu Jinkeji
Original Assignee
Mu Jinkeji
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 Mu Jinkeji filed Critical Mu Jinkeji
Priority to CN202310270974.0A priority Critical patent/CN116061192A/zh
Publication of CN116728399A publication Critical patent/CN116728399A/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
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • 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
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • B25J9/1694—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
    • G05B2219/40053—Pick 3-D object from pile of objects
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45063—Pick and place manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
CN202310228334.3A 2022-03-08 2023-03-08 具有物体处理的机器人系统的系统和方法 Pending CN116728399A (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310270974.0A CN116061192A (zh) 2022-03-08 2023-03-08 具有物体处理的机器人系统的系统和方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202263317558P 2022-03-08 2022-03-08
US63/317,558 2022-03-08

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202310270974.0A Division CN116061192A (zh) 2022-03-08 2023-03-08 具有物体处理的机器人系统的系统和方法

Publications (1)

Publication Number Publication Date
CN116728399A true CN116728399A (zh) 2023-09-12

Family

ID=87903266

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310228334.3A Pending CN116728399A (zh) 2022-03-08 2023-03-08 具有物体处理的机器人系统的系统和方法

Country Status (3)

Country Link
US (1) US20230286140A1 (https=)
JP (2) JP2023131146A (https=)
CN (1) CN116728399A (https=)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12165523B2 (en) * 2021-03-15 2024-12-10 Aurora Flight Sciences Corporation, a subsidiary of The Boeing Company Systems and methods for tracking objects relative to an aircraft within an air space
WO2022251881A2 (en) * 2021-05-27 2022-12-01 Ambi Robotics, Inc. System and method for planning and adapting to object manipulation by a robotic system
DE112023000857B4 (de) * 2022-02-08 2026-04-23 Kabushiki Kaisha Toshiba Handhabungssystem, handhabungsverfahren, programm, informationsverarbeitungsvorrichtung und datenstruktur
DE102022125564B3 (de) * 2022-10-04 2023-10-12 J.Schmalz Gmbh Verfahren zum Handhaben von Gegenständen und Handhabungsanlage
KR102521819B1 (ko) * 2023-01-26 2023-04-17 주식회사 브릴스 파렛타이징 시스템
US20250196357A1 (en) * 2023-12-14 2025-06-19 Industrial Technology Research Institute Parameter calibration method, parameter calibration system and non-transitory computer readable medium
US20250370476A1 (en) * 2024-05-31 2025-12-04 Boston Dynamics, Inc. Methods and apparatus for object quality detection
US20260042207A1 (en) * 2024-08-06 2026-02-12 GM Global Technology Operations LLC Systems and methods for manufacturing with an end effector having two or more independent tools

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101003579B1 (ko) * 2006-02-02 2010-12-22 가부시키가이샤 야스카와덴키 로봇 시스템
JP2019125056A (ja) * 2018-01-12 2019-07-25 キヤノン株式会社 情報処理システム、情報処理装置、情報処理方法及びプログラム
US10576630B1 (en) * 2019-05-31 2020-03-03 Mujin, Inc. Robotic system with a robot arm suction control mechanism and method of operation thereof
JP7535400B2 (ja) * 2020-07-14 2024-08-16 株式会社キーエンス 画像処理装置

Also Published As

Publication number Publication date
JP2023131146A (ja) 2023-09-21
US20230286140A1 (en) 2023-09-14
JP2024019690A (ja) 2024-02-09

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