CN116867615A - 机器人的设置位置测量装置、设置位置测量方法、机器人控制装置、示教系统以及模拟装置 - Google Patents

机器人的设置位置测量装置、设置位置测量方法、机器人控制装置、示教系统以及模拟装置 Download PDF

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Publication number
CN116867615A
CN116867615A CN202280015780.XA CN202280015780A CN116867615A CN 116867615 A CN116867615 A CN 116867615A CN 202280015780 A CN202280015780 A CN 202280015780A CN 116867615 A CN116867615 A CN 116867615A
Authority
CN
China
Prior art keywords
coordinate system
robot
tool
position information
measurement
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
CN202280015780.XA
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English (en)
Chinese (zh)
Inventor
原田邦彦
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 CN116867615A publication Critical patent/CN116867615A/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
    • 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
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B25J19/0037—Means for supplying energy to the end effector arranged within the different robot elements comprising a light beam pathway, e.g. laser
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • 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
    • B25J9/1694—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)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
CN202280015780.XA 2021-02-26 2022-02-24 机器人的设置位置测量装置、设置位置测量方法、机器人控制装置、示教系统以及模拟装置 Pending CN116867615A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021-029889 2021-02-26
JP2021029889 2021-02-26
PCT/JP2022/007600 WO2022181688A1 (ja) 2021-02-26 2022-02-24 ロボットの設置位置測定装置、設置位置測定方法、ロボット制御装置、教示システムおよびシミュレーション装置

Publications (1)

Publication Number Publication Date
CN116867615A true CN116867615A (zh) 2023-10-10

Family

ID=83049074

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280015780.XA Pending CN116867615A (zh) 2021-02-26 2022-02-24 机器人的设置位置测量装置、设置位置测量方法、机器人控制装置、示教系统以及模拟装置

Country Status (5)

Country Link
US (1) US12479096B2 (https=)
JP (1) JP7597906B2 (https=)
CN (1) CN116867615A (https=)
DE (1) DE112022000393T5 (https=)
WO (1) WO2022181688A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022025059A1 (ja) * 2020-07-29 2022-02-03 ファナック株式会社 ロボットシステム
WO2024053026A1 (ja) * 2022-09-07 2024-03-14 ファナック株式会社 プラントモデル生成装置及びコンピュータ読み取り可能な記録媒体
DE102023205411A1 (de) 2023-06-12 2024-12-12 Robert Bosch Gesellschaft mit beschränkter Haftung Computerimplementiertes Verfahren zum Steuern eines robotischen Systems und robotisches System

Citations (7)

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JPH04129687A (ja) * 1990-09-20 1992-04-30 Nachi Fujikoshi Corp ロボット定数の自動補正方法
JP2006110705A (ja) * 2004-09-15 2006-04-27 Yaskawa Electric Corp ロボットのキャリブレーション方法
CN101362335A (zh) * 2007-08-10 2009-02-11 发那科株式会社 机器人程序调整装置
CN101432079A (zh) * 2007-02-06 2009-05-13 Abb株式会社 涂装系统
CN102243498A (zh) * 2010-03-29 2011-11-16 株式会社大亨 机器人的作业程序生成方法、机器人的作业程序生成装置和机器人控制系统
JP2011230243A (ja) * 2010-04-28 2011-11-17 Yaskawa Electric Corp ロボットの教示手順校正装置および方法
JP2015182144A (ja) * 2014-03-20 2015-10-22 キヤノン株式会社 ロボットシステムおよびロボットシステムの校正方法

Family Cites Families (12)

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JPH0386484A (ja) * 1989-08-25 1991-04-11 Fujitsu Ltd ロボットの遠隔操作装置
JP4968604B2 (ja) 2006-06-21 2012-07-04 トヨタ自動車株式会社 姿勢角決定装置およびその決定方法
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
JP2011224672A (ja) 2010-04-15 2011-11-10 Kobe Steel Ltd ロボットのツールベクトルの導出方法及び較正方法
EP3421167A1 (de) * 2017-06-26 2019-01-02 Fronius International GmbH Verfahren und vorrichtung zur abtastung einer werkstückoberfläche eines metallischen werkstückes
JP6603289B2 (ja) 2017-10-27 2019-11-06 ファナック株式会社 ロボット、ロボットシステム、およびロボットの座標系設定方法
CN110709024A (zh) * 2017-11-21 2020-01-17 直观外科手术操作公司 用于直观运动的主/工具配准和控制的系统和方法
CN118438439A (zh) * 2018-10-22 2024-08-06 直观外科手术操作公司 用于主机/工具配准和控制以进行直观运动的系统和方法
JP7359657B2 (ja) * 2019-11-07 2023-10-11 ファナック株式会社 ロボットの位置または姿勢の修正方法を判定する制御装置
CN110640746B (zh) * 2019-11-07 2023-03-24 上海电气集团股份有限公司 机器人的坐标系标定及定位方法、系统、设备、介质
JP7436675B2 (ja) 2020-07-29 2024-02-22 ファナック株式会社 ロボット制御装置
US11885770B2 (en) * 2021-01-27 2024-01-30 The Boeing Company Measurement probe edge guide tool

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04129687A (ja) * 1990-09-20 1992-04-30 Nachi Fujikoshi Corp ロボット定数の自動補正方法
JP2006110705A (ja) * 2004-09-15 2006-04-27 Yaskawa Electric Corp ロボットのキャリブレーション方法
CN101432079A (zh) * 2007-02-06 2009-05-13 Abb株式会社 涂装系统
CN101362335A (zh) * 2007-08-10 2009-02-11 发那科株式会社 机器人程序调整装置
CN102243498A (zh) * 2010-03-29 2011-11-16 株式会社大亨 机器人的作业程序生成方法、机器人的作业程序生成装置和机器人控制系统
JP2011230243A (ja) * 2010-04-28 2011-11-17 Yaskawa Electric Corp ロボットの教示手順校正装置および方法
JP2015182144A (ja) * 2014-03-20 2015-10-22 キヤノン株式会社 ロボットシステムおよびロボットシステムの校正方法

Also Published As

Publication number Publication date
JPWO2022181688A1 (https=) 2022-09-01
US12479096B2 (en) 2025-11-25
WO2022181688A1 (ja) 2022-09-01
US20240091940A1 (en) 2024-03-21
JP7597906B2 (ja) 2024-12-10
DE112022000393T5 (de) 2023-11-23
TW202233366A (zh) 2022-09-01

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