CN116997441A - 机器人控制装置、机器人控制程序及机器人控制方法 - Google Patents

机器人控制装置、机器人控制程序及机器人控制方法 Download PDF

Info

Publication number
CN116997441A
CN116997441A CN202180093362.8A CN202180093362A CN116997441A CN 116997441 A CN116997441 A CN 116997441A CN 202180093362 A CN202180093362 A CN 202180093362A CN 116997441 A CN116997441 A CN 116997441A
Authority
CN
China
Prior art keywords
point
target object
robot
trajectory
track
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
CN202180093362.8A
Other languages
English (en)
Chinese (zh)
Inventor
春尾七星
冈原卓矢
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.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi 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 Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of CN116997441A publication Critical patent/CN116997441A/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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme 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—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • G05B2219/40371—Control trajectory to avoid joint limit as well as obstacle collision
    • 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
    • G05B2219/40519—Motion, trajectory planning

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN202180093362.8A 2021-03-24 2021-03-24 机器人控制装置、机器人控制程序及机器人控制方法 Pending CN116997441A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/012254 WO2022201362A1 (ja) 2021-03-24 2021-03-24 ロボット制御装置、ロボット制御プログラムおよびロボット制御方法

Publications (1)

Publication Number Publication Date
CN116997441A true CN116997441A (zh) 2023-11-03

Family

ID=83396544

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180093362.8A Pending CN116997441A (zh) 2021-03-24 2021-03-24 机器人控制装置、机器人控制程序及机器人控制方法

Country Status (4)

Country Link
JP (1) JP7438453B2 (ja)
CN (1) CN116997441A (ja)
DE (1) DE112021007395T5 (ja)
WO (1) WO2022201362A1 (ja)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003103481A (ja) 2001-09-28 2003-04-08 Honda Motor Co Ltd 多関節ロボットの姿勢適正化方法および適正化装置
JP4984576B2 (ja) * 2006-03-08 2012-07-25 トヨタ自動車株式会社 ロボットハンドによる把持制御方法
JP5724919B2 (ja) 2012-03-22 2015-05-27 トヨタ自動車株式会社 軌道生成装置、移動体、軌道生成方法及びプログラム
JP6807949B2 (ja) * 2016-11-16 2021-01-06 三菱電機株式会社 干渉回避装置
CN110198813B (zh) * 2017-01-31 2023-02-28 株式会社安川电机 机器人路径生成装置和机器人系统

Also Published As

Publication number Publication date
JP7438453B2 (ja) 2024-02-26
DE112021007395T5 (de) 2024-03-21
WO2022201362A1 (ja) 2022-09-29
JPWO2022201362A1 (ja) 2022-09-29

Similar Documents

Publication Publication Date Title
CN110116405B (zh) 轨迹生成方法和轨迹生成装置
EP3195990B1 (en) Robot trajectory generation method, apparatus, computer program and computer readable storage medium
CN110198813B (zh) 机器人路径生成装置和机器人系统
JP5743495B2 (ja) ロボット制御装置
US9815202B2 (en) Control method for robot apparatus, computer readable recording medium, and robot apparatus
EP2821875A2 (en) Route planning method, route planning unit, and autonomous mobile device
US20040019402A1 (en) Intelligent system for generating and executing a sheet metal bending plan
JP2023513841A (ja) 産業ロボット用の衝突回避モーション計画方法
CN112272601A (zh) 参数识别装置、方法以及程序
CN110554699A (zh) 机器人的控制系统及控制方法
CN110770664A (zh) 一种导航路径跟踪控制方法、设备、移动机器人及系统
JP4667764B2 (ja) 経路設定方法
JP2019135076A (ja) 軌道生成方法および軌道生成装置
JP5679121B2 (ja) ロボットの運動予測制御方法と装置
JP7180696B2 (ja) 制御装置、制御方法およびプログラム
US11185981B2 (en) Robot control apparatus, robot control method, and program
US6504333B2 (en) Numerical control apparatus
CN116997441A (zh) 机器人控制装置、机器人控制程序及机器人控制方法
TW202132071A (zh) 機器人控制裝置、機器人控制方法以及學習模型產生裝置
CN114454180B (zh) 移动机器人的运动控制方法、装置和移动机器人
CN114002996B (zh) 一种混联机器人c3连续五轴路径转接光顺方法
CN114800523A (zh) 机械臂轨迹修正方法、系统、计算机及可读存储介质
JP7351672B2 (ja) 移動経路生成装置
CN116133797A (zh) 机器人控制装置
CN113715006B (zh) 机械手臂的驱动方法

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination