CN117794704A - 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
CN117794704A
CN117794704A CN202280053850.0A CN202280053850A CN117794704A CN 117794704 A CN117794704 A CN 117794704A CN 202280053850 A CN202280053850 A CN 202280053850A CN 117794704 A CN117794704 A CN 117794704A
Authority
CN
China
Prior art keywords
robot
spatial information
controller
acquisition unit
calibration
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
CN202280053850.0A
Other languages
English (en)
Chinese (zh)
Inventor
费德利亚·格拉西亚
森雅人
内竹真洋
石田敬之
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 CN117794704A publication Critical patent/CN117794704A/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
    • B25J9/1694—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
    • 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
    • B25J19/021—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
    • B25J9/10—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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—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
    • G05B2219/39008—Fixed camera detects reference pattern held by end effector

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
CN202280053850.0A 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 CN117794704A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021-128475 2021-08-04
JP2021128475 2021-08-04
PCT/JP2022/030011 WO2023013740A1 (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
CN117794704A true CN117794704A (zh) 2024-03-29

Family

ID=85155783

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280053850.0A Pending CN117794704A (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) US20240342918A1 (https=)
EP (1) EP4382261A4 (https=)
JP (1) JP7660686B2 (https=)
CN (1) CN117794704A (https=)
WO (1) WO2023013740A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7423851B1 (ja) 2023-10-31 2024-01-29 株式会社ダイヘン 端末装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013215867A (ja) * 2012-04-12 2013-10-24 Seiko Epson Corp ロボット制御装置、ロボット制御方法、ロボット制御プログラム、ロボット
CN108127661A (zh) * 2016-12-01 2018-06-08 发那科株式会社 机器人控制装置
CN108297095A (zh) * 2017-01-12 2018-07-20 发那科株式会社 校准装置、校准方法以及计算机能够读取的介质
CN111195915A (zh) * 2020-01-20 2020-05-26 深圳龙岗智能视听研究院 一种基于遗传算法的机械臂绝对定位精度标定方法及系统
CN112454332A (zh) * 2020-11-25 2021-03-09 中科新松有限公司 一种用于手眼标定的机器人轨迹点生成方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8170287B2 (en) * 2007-10-26 2012-05-01 Honda Motor Co., Ltd. Real-time self collision and obstacle avoidance
EP3112096B1 (en) * 2014-02-28 2020-10-14 Sony Corporation Robot arm apparatus, calibration method, and program
EP3436876B1 (en) 2016-03-29 2021-07-07 Cognibotics AB Method, constraining device and system for determining geometric properties of a manipulator
JP6490112B2 (ja) 2017-01-17 2019-03-27 ファナック株式会社 ロボット制御装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013215867A (ja) * 2012-04-12 2013-10-24 Seiko Epson Corp ロボット制御装置、ロボット制御方法、ロボット制御プログラム、ロボット
CN108127661A (zh) * 2016-12-01 2018-06-08 发那科株式会社 机器人控制装置
CN108297095A (zh) * 2017-01-12 2018-07-20 发那科株式会社 校准装置、校准方法以及计算机能够读取的介质
CN111195915A (zh) * 2020-01-20 2020-05-26 深圳龙岗智能视听研究院 一种基于遗传算法的机械臂绝对定位精度标定方法及系统
CN112454332A (zh) * 2020-11-25 2021-03-09 中科新松有限公司 一种用于手眼标定的机器人轨迹点生成方法

Also Published As

Publication number Publication date
WO2023013740A1 (ja) 2023-02-09
US20240342918A1 (en) 2024-10-17
EP4382261A4 (en) 2025-08-13
JP7660686B2 (ja) 2025-04-11
EP4382261A1 (en) 2024-06-12
JPWO2023013740A1 (https=) 2023-02-09

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