CN118632766A - 轨道生成装置 - Google Patents

轨道生成装置 Download PDF

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Publication number
CN118632766A
CN118632766A CN202380018918.6A CN202380018918A CN118632766A CN 118632766 A CN118632766 A CN 118632766A CN 202380018918 A CN202380018918 A CN 202380018918A CN 118632766 A CN118632766 A CN 118632766A
Authority
CN
China
Prior art keywords
acceleration
movement axis
maximum movement
unit
deceleration
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.)
Withdrawn
Application number
CN202380018918.6A
Other languages
English (en)
Chinese (zh)
Inventor
前川清石
松冈谅
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.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric 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 Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of CN118632766A publication Critical patent/CN118632766A/zh
Withdrawn legal-status Critical Current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
    • B25J9/1656—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
    • B25J9/1656—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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1651—Program controls characterised by the control loop acceleration, rate 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
    • 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
    • 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
    • G05B2219/40519—Motion, trajectory planning

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
CN202380018918.6A 2022-02-04 2023-01-25 轨道生成装置 Withdrawn CN118632766A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2022016096 2022-02-04
JP2022-016096 2022-02-04
PCT/JP2023/002235 WO2023149298A1 (ja) 2022-02-04 2023-01-25 軌道生成装置

Publications (1)

Publication Number Publication Date
CN118632766A true CN118632766A (zh) 2024-09-10

Family

ID=87552189

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202380018918.6A Withdrawn CN118632766A (zh) 2022-02-04 2023-01-25 轨道生成装置

Country Status (5)

Country Link
US (1) US20250100142A1 (https=)
JP (1) JP7399357B1 (https=)
CN (1) CN118632766A (https=)
DE (1) DE112023000819T5 (https=)
WO (1) WO2023149298A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7829543B2 (ja) * 2023-12-22 2026-03-13 株式会社安川電機 ロボットシステム及び制御方法
US20260021581A1 (en) * 2024-07-17 2026-01-22 Fanuc Corporation Height map collision avoidance

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002073130A (ja) * 2000-06-13 2002-03-12 Yaskawa Electric Corp ロボットの大域動作経路計画方法とその制御装置
JP7158862B2 (ja) 2018-02-05 2022-10-24 キヤノン株式会社 情報処理方法及び情報処理装置
EP3623887A1 (de) * 2018-09-12 2020-03-18 Siemens Aktiengesellschaft Zeitoptimierte bewegungsführung zwischen bahnabschnitten
JP7400644B2 (ja) * 2020-07-02 2023-12-19 株式会社デンソー 動作経路生成装置、動作経路生成方法および動作経路生成プログラム
US12214505B2 (en) * 2020-07-08 2025-02-04 Mitsubishi Electric Corporation Robot controller, robot control method, and storage medium storing robot control program

Also Published As

Publication number Publication date
US20250100142A1 (en) 2025-03-27
JPWO2023149298A1 (https=) 2023-08-10
WO2023149298A1 (ja) 2023-08-10
JP7399357B1 (ja) 2023-12-15
DE112023000819T5 (de) 2024-11-28

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Application publication date: 20240910