CN118369192A - 控制装置、控制系统、机器人系统、控制方法及计算机程序 - Google Patents

控制装置、控制系统、机器人系统、控制方法及计算机程序 Download PDF

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Publication number
CN118369192A
CN118369192A CN202180104846.8A CN202180104846A CN118369192A CN 118369192 A CN118369192 A CN 118369192A CN 202180104846 A CN202180104846 A CN 202180104846A CN 118369192 A CN118369192 A CN 118369192A
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CN
China
Prior art keywords
axis
workpiece
image data
change amount
coordinate system
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
CN202180104846.8A
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English (en)
Chinese (zh)
Inventor
细见幸司
繁野日雅留
移付手加留足倶
宫野牧人
长谷川智志
三村晃平
小柳大辅
森野友介
佐野英之
清水飒
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.)
Nikon Corp
Original Assignee
Nikon 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 Nikon Corp filed Critical Nikon Corp
Publication of CN118369192A publication Critical patent/CN118369192A/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
    • 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
    • B25J9/1694—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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • 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
    • B25J9/16—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
    • 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
    • G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202180104846.8A 2021-12-27 2021-12-27 控制装置、控制系统、机器人系统、控制方法及计算机程序 Pending CN118369192A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/048572 WO2023127021A1 (ja) 2021-12-27 2021-12-27 制御装置、制御システム、ロボットシステム、制御方法及びコンピュータプログラム

Publications (1)

Publication Number Publication Date
CN118369192A true CN118369192A (zh) 2024-07-19

Family

ID=86998336

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180104846.8A Pending CN118369192A (zh) 2021-12-27 2021-12-27 控制装置、控制系统、机器人系统、控制方法及计算机程序

Country Status (6)

Country Link
US (1) US20250214249A1 (https=)
EP (1) EP4458526A4 (https=)
JP (1) JPWO2023127021A1 (https=)
KR (1) KR20240130076A (https=)
CN (1) CN118369192A (https=)
WO (1) WO2023127021A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4516465A4 (en) * 2022-04-28 2026-03-11 Nikon Corp CONTROL DEVICE, CONTROL SYSTEM, ROBOTIC SYSTEM, CONTROL METHOD, AND COMPUTER PROGRAM
CN119403659A (zh) * 2022-06-21 2025-02-07 发那科株式会社 取得工件的位置数据的装置、控制装置、机器人系统、方法以及计算机程序
US12583111B2 (en) * 2023-09-06 2026-03-24 Mitsubishi Electric Research Laboratories, Inc. Eye-on-hand reinforcement learner for dynamic grasping with active pose estimation
CN121925331A (zh) * 2023-09-28 2026-04-24 株式会社尼康 控制装置、控制系统、机器人系统、控制方法及计算机程序

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3300682B2 (ja) * 1999-04-08 2002-07-08 ファナック株式会社 画像処理機能を持つロボット装置
JP5839929B2 (ja) 2010-11-19 2016-01-06 キヤノン株式会社 情報処理装置、情報処理システム、情報処理方法及びプログラム
KR20140009774A (ko) * 2012-07-13 2014-01-23 삼성전자주식회사 3ｄ 이미지 센서 및 이를 포함하는 시스템
JP2016065718A (ja) * 2013-02-08 2016-04-28 三洋電機株式会社 情報取得装置および物体検出装置
US9694498B2 (en) * 2015-03-30 2017-07-04 X Development Llc Imager for detecting visual light and projected patterns
JP2017020873A (ja) * 2015-07-09 2017-01-26 キヤノン株式会社 被計測物の形状を計測する計測装置
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
JP7528939B2 (ja) * 2019-07-17 2024-08-06 株式会社プロテリアル 検査装置、検査方法、位置決め方法、およびプログラム
US12175741B2 (en) * 2021-06-22 2024-12-24 Intrinsic Innovation Llc Systems and methods for a vision guided end effector

Also Published As

Publication number Publication date
JPWO2023127021A1 (https=) 2023-07-06
EP4458526A1 (en) 2024-11-06
EP4458526A4 (en) 2025-11-12
US20250214249A1 (en) 2025-07-03
KR20240130076A (ko) 2024-08-28
WO2023127021A1 (ja) 2023-07-06

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