CN117769482A - 机器人控制设备、机器人控制系统和机器人控制方法 - Google Patents

机器人控制设备、机器人控制系统和机器人控制方法 Download PDF

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Publication number
CN117769482A
CN117769482A CN202280053851.5A CN202280053851A CN117769482A CN 117769482 A CN117769482 A CN 117769482A CN 202280053851 A CN202280053851 A CN 202280053851A CN 117769482 A CN117769482 A CN 117769482A
Authority
CN
China
Prior art keywords
robot
measurement target
controller
end effector
finger
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
CN202280053851.5A
Other languages
English (en)
Chinese (zh)
Inventor
内竹真洋
费德利亚·格拉西亚
森雅人
石田敬之
宫村博昭
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.)
Kyocera Corp
Original Assignee
Kyocera 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 Kyocera Corp filed Critical Kyocera Corp
Publication of CN117769482A publication Critical patent/CN117769482A/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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • 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
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39021—With probe, touch reference positions
    • 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
    • G05B2219/39024—Calibration of manipulator
    • 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
    • G05B2219/39045—Camera on end effector detects reference pattern
    • 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
    • G05B2219/39527—Workpiece detector, sensor mounted in, near hand, gripper

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202280053851.5A 2021-08-03 2022-08-03 机器人控制设备、机器人控制系统和机器人控制方法 Pending CN117769482A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021-127725 2021-08-03
JP2021127725 2021-08-03
PCT/JP2022/029853 WO2023013699A1 (ja) 2021-08-03 2022-08-03 ロボット制御装置、ロボット制御システム、及びロボット制御方法

Publications (1)

Publication Number Publication Date
CN117769482A true CN117769482A (zh) 2024-03-26

Family

ID=85156013

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280053851.5A Pending CN117769482A (zh) 2021-08-03 2022-08-03 机器人控制设备、机器人控制系统和机器人控制方法

Country Status (5)

Country Link
US (1) US20250001594A1 (https=)
EP (1) EP4382259A4 (https=)
JP (2) JPWO2023013699A1 (https=)
CN (1) CN117769482A (https=)
WO (1) WO2023013699A1 (https=)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4831549A (en) * 1987-07-28 1989-05-16 Brigham Young University Device and method for correction of robot inaccuracy
JPH05301183A (ja) 1992-04-28 1993-11-16 Fujitsu Ltd ロボット制御装置及びロボット制御方法
JP5505138B2 (ja) * 2010-07-05 2014-05-28 株式会社安川電機 ロボット装置およびロボット装置による把持方法
WO2012129110A1 (en) * 2011-03-18 2012-09-27 Siemens Healthcare Diagnostics Inc. Methods, systems, and apparatus for calibration of an orientation between and end effector and an article
JP2015033747A (ja) * 2013-08-09 2015-02-19 株式会社安川電機 ロボットシステム、ロボット制御装置及びロボット制御方法
JP6511715B2 (ja) * 2013-10-31 2019-05-15 セイコーエプソン株式会社 ロボット制御装置、ロボットシステム、及びロボット
JP6415190B2 (ja) * 2014-09-03 2018-10-31 キヤノン株式会社 ロボット装置、ロボット制御プログラム、記録媒体、およびロボット装置の制御方法
GB201509341D0 (en) * 2015-05-29 2015-07-15 Cambridge Medical Robotics Ltd Characterising robot environments

Also Published As

Publication number Publication date
EP4382259A4 (en) 2025-08-13
EP4382259A1 (en) 2024-06-12
US20250001594A1 (en) 2025-01-02
JPWO2023013699A1 (https=) 2023-02-09
WO2023013699A1 (ja) 2023-02-09
JP2025129424A (ja) 2025-09-04

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