CN118354882A - 机器人控制装置、机器人控制系统和机器人控制方法 - Google Patents

机器人控制装置、机器人控制系统和机器人控制方法 Download PDF

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Publication number
CN118354882A
CN118354882A CN202280078890.0A CN202280078890A CN118354882A CN 118354882 A CN118354882 A CN 118354882A CN 202280078890 A CN202280078890 A CN 202280078890A CN 118354882 A CN118354882 A CN 118354882A
Authority
CN
China
Prior art keywords
robot
control device
collision
path
state estimation
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
CN202280078890.0A
Other languages
English (en)
Chinese (zh)
Inventor
文野祥
森雅人
宫本卓哉
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 CN118354882A publication Critical patent/CN118354882A/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
    • 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
    • B25J19/06—Safety 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • G05B2219/39082—Collision, real time collision avoidance
    • 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
    • G05B2219/40201—Detect contact, collision with human
    • 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
    • G05B2219/40202—Human robot coexistence
    • 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
    • G05B2219/40476—Collision, planning for collision free path

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN202280078890.0A 2021-11-29 2022-11-29 机器人控制装置、机器人控制系统和机器人控制方法 Pending CN118354882A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021-193660 2021-11-29
JP2021193660 2021-11-29
PCT/JP2022/044046 WO2023095926A1 (ja) 2021-11-29 2022-11-29 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
CN118354882A true CN118354882A (zh) 2024-07-16

Family

ID=86539764

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280078890.0A Pending CN118354882A (zh) 2021-11-29 2022-11-29 机器人控制装置、机器人控制系统和机器人控制方法

Country Status (5)

Country Link
US (1) US20250050502A1 (https=)
EP (1) EP4442412A4 (https=)
JP (2) JPWO2023095926A1 (https=)
CN (1) CN118354882A (https=)
WO (1) WO2023095926A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023013784A1 (ja) * 2021-08-05 2023-02-09 京セラ株式会社 ライブラリ提示装置、ライブラリ提示方法及びロボット制御システム
WO2026078762A1 (ja) * 2024-10-08 2026-04-16 ファナック株式会社 制御装置

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06138941A (ja) * 1992-10-27 1994-05-20 Yamatake Honeywell Co Ltd 障害物回避装置
EP2952300A1 (en) * 2014-06-05 2015-12-09 Aldebaran Robotics Collision detection
JP6690626B2 (ja) 2017-10-31 2020-04-28 株式会社安川電機 ロボットシステムおよびロボットの退避方法
KR101968751B1 (ko) * 2017-12-19 2019-08-13 전자부품연구원 충돌 감지 장치, 그를 갖는 엔드 이펙터, 로봇 및 그를 이용한 충돌 감지 방법
JP7058126B2 (ja) * 2018-01-12 2022-04-21 株式会社日立製作所 ロボット制御装置および自動組立システム
JP7176255B2 (ja) * 2018-07-04 2022-11-22 富士電機株式会社 電動機制御装置及び衝突検出方法
JP2021191594A (ja) * 2018-08-30 2021-12-16 株式会社不二越 ロボット制御装置
CN110696000B (zh) * 2019-11-21 2020-12-01 河北工业大学 一种机械臂试探感知的避障方法
US12552010B2 (en) * 2019-12-13 2026-02-17 Kawasaki Jukogyo Kabushiki Kaisha Master-slave system and controlling method
JP6916348B1 (ja) 2020-06-08 2021-08-11 第一工業製薬株式会社 非水電解質二次電池用負極およびそれを用いた非水電解質二次電池

Also Published As

Publication number Publication date
WO2023095926A1 (ja) 2023-06-01
EP4442412A1 (en) 2024-10-09
JPWO2023095926A1 (https=) 2023-06-01
JP2026009312A (ja) 2026-01-19
US20250050502A1 (en) 2025-02-13
EP4442412A4 (en) 2025-11-19

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