CN117813182A - 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
CN117813182A
CN117813182A CN202280053883.5A CN202280053883A CN117813182A CN 117813182 A CN117813182 A CN 117813182A CN 202280053883 A CN202280053883 A CN 202280053883A CN 117813182 A CN117813182 A CN 117813182A
Authority
CN
China
Prior art keywords
robot
controller
calibration
spatial information
acquisition unit
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
CN202280053883.5A
Other languages
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 CN117813182A publication Critical patent/CN117813182A/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
    • B25J9/10—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
    • 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • 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
    • G05B2219/39016—Simultaneous calibration of manipulator and camera
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202280053883.5A 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 CN117813182A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021-127715 2021-08-03
JP2021127715 2021-08-03
PCT/JP2022/029851 WO2023013698A1 (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
CN117813182A true CN117813182A (zh) 2024-04-02

Family

ID=85156017

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280053883.5A Pending CN117813182A (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) US20240246237A1 (https=)
EP (1) EP4382258A4 (https=)
JP (1) JP7657936B2 (https=)
CN (1) CN117813182A (https=)
WO (1) WO2023013698A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7680553B2 (ja) * 2021-09-27 2025-05-20 ファナック株式会社 機構誤差パラメータを較正する較正装置および機構誤差パラメータの較正の必要性を判定する判定装置

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1063317A (ja) * 1996-08-13 1998-03-06 Fanuc Ltd ロボット−視覚センサシステムにおける座標系結合方法
JP4298757B2 (ja) * 2007-02-05 2009-07-22 ファナック株式会社 ロボット機構のキャリブレーション装置及び方法
JP2009125857A (ja) * 2007-11-22 2009-06-11 Mitsubishi Electric Corp ロボットのキャリブレーション装置及び方法
JP5561260B2 (ja) * 2011-09-15 2014-07-30 株式会社安川電機 ロボットシステム及び撮像方法
US9211643B1 (en) * 2014-06-25 2015-12-15 Microsoft Technology Licensing, Llc Automatic in-situ registration and calibration of robotic arm/sensor/workspace system
JP6396516B2 (ja) * 2017-01-12 2018-09-26 ファナック株式会社 視覚センサのキャリブレーション装置、方法及びプログラム
JP6860843B2 (ja) * 2017-02-20 2021-04-21 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
WO2018163450A1 (ja) * 2017-03-09 2018-09-13 三菱電機株式会社 ロボット制御装置およびキャリブレーション方法
JP7008942B2 (ja) * 2017-12-21 2022-01-25 株式会社安川電機 較正方法及び較正装置
JP2019119027A (ja) * 2018-01-10 2019-07-22 キヤノン株式会社 ロボットシステムの制御方法、およびロボットシステム
DE102018124595B4 (de) * 2018-10-05 2022-02-17 Carl Zeiss Industrielle Messtechnik Gmbh Vorrichtung zur Erfassung einer Position und Lage eines Endeffektors eines Roboters
JP7281910B2 (ja) 2019-01-28 2023-05-26 株式会社Fuji ロボット制御システム
JP7323057B2 (ja) * 2020-03-31 2023-08-08 日本電気株式会社 制御装置、制御方法、および、制御プログラム
US12311542B2 (en) * 2020-07-29 2025-05-27 Fanuc Corporation Robot system
US12115652B2 (en) * 2020-08-17 2024-10-15 Faro Technologies, Inc. Referencing pose manipulation system for marker based tracking of position measurement system
US11724407B2 (en) * 2021-01-18 2023-08-15 Xerox Corporation Target-free RGBD camera alignment to robots
CN116917087A (zh) * 2021-04-19 2023-10-20 发那科株式会社 程序生成装置和机器人控制装置

Also Published As

Publication number Publication date
JPWO2023013698A1 (https=) 2023-02-09
EP4382258A4 (en) 2025-08-13
WO2023013698A1 (ja) 2023-02-09
JP7657936B2 (ja) 2025-04-07
EP4382258A1 (en) 2024-06-12
US20240246237A1 (en) 2024-07-25

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