CN117769483A - 机器人控制设备、机器人控制系统以及机器人控制方法 - Google Patents

机器人控制设备、机器人控制系统以及机器人控制方法 Download PDF

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Publication number
CN117769483A
CN117769483A CN202280053884.XA CN202280053884A CN117769483A CN 117769483 A CN117769483 A CN 117769483A CN 202280053884 A CN202280053884 A CN 202280053884A CN 117769483 A CN117769483 A CN 117769483A
Authority
CN
China
Prior art keywords
calibration
robot
controller
posture
spatial information
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
CN202280053884.XA
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English (en)
Chinese (zh)
Inventor
费德利亚·格拉西亚
石田敬之
森雅人
内竹真洋
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 CN117769483A publication Critical patent/CN117769483A/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
    • B25J9/1679—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
    • 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
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • G05B2219/39008—Fixed camera detects reference pattern held by end effector

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202280053884.XA 2021-08-04 2022-08-04 机器人控制设备、机器人控制系统以及机器人控制方法 Pending CN117769483A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021128491 2021-08-04
JP2021-128491 2021-08-04
PCT/JP2022/030010 WO2023013739A1 (ja) 2021-08-04 2022-08-04 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
CN117769483A true CN117769483A (zh) 2024-03-26

Family

ID=85155767

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280053884.XA Pending CN117769483A (zh) 2021-08-04 2022-08-04 机器人控制设备、机器人控制系统以及机器人控制方法

Country Status (5)

Country Link
US (1) US20240342917A1 (https=)
EP (1) EP4382260A4 (https=)
JP (1) JP7583942B2 (https=)
CN (1) CN117769483A (https=)
WO (1) WO2023013739A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025263899A1 (ko) * 2024-06-21 2025-12-26 삼성전자 주식회사 로봇-비전 간 캘리브레이션을 위한 전자 장치 및 이를 이용한 캘리브레이션 방법

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0774964B2 (ja) * 1987-06-25 1995-08-09 日本鋼管株式会社 ロボットの位置決め誤差補正方法
JPH05277973A (ja) * 1991-12-25 1993-10-26 Sanyo Electric Co Ltd マニピュレータのキャリブレーション方法
JP4882990B2 (ja) 2007-12-11 2012-02-22 株式会社デンソーウェーブ ロボット制御装置
JP5365218B2 (ja) 2009-01-28 2013-12-11 富士電機株式会社 ロボットビジョンシステムおよび自動キャリブレーション方法
US9211643B1 (en) * 2014-06-25 2015-12-15 Microsoft Technology Licensing, Llc Automatic in-situ registration and calibration of robotic arm/sensor/workspace system
JP6922204B2 (ja) 2016-12-09 2021-08-18 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
JP7035727B2 (ja) 2018-03-30 2022-03-15 日本電産株式会社 キャリブレーション精度の評価方法及び評価装置
JP7070127B2 (ja) 2018-06-15 2022-05-18 オムロン株式会社 ロボット制御システム
US11065768B2 (en) * 2018-11-01 2021-07-20 TE Connectivity Services Gmbh Automatic calibration for camera-robot system with tool offsets
CN110148187B (zh) 2019-06-04 2021-03-12 郑州大学 一种SCARA机械手Eye-in-Hand的高精度手眼标定方法和系统

Also Published As

Publication number Publication date
WO2023013739A1 (ja) 2023-02-09
EP4382260A4 (en) 2025-08-13
EP4382260A1 (en) 2024-06-12
JPWO2023013739A1 (https=) 2023-02-09
JP7583942B2 (ja) 2024-11-14
US20240342917A1 (en) 2024-10-17

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