CN119212835A - 机器人控制装置以及机器人控制方法 - Google Patents

机器人控制装置以及机器人控制方法 Download PDF

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Publication number
CN119212835A
CN119212835A CN202380025005.7A CN202380025005A CN119212835A CN 119212835 A CN119212835 A CN 119212835A CN 202380025005 A CN202380025005 A CN 202380025005A CN 119212835 A CN119212835 A CN 119212835A
Authority
CN
China
Prior art keywords
control unit
holding
robot
robot control
image
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
CN202380025005.7A
Other languages
English (en)
Chinese (zh)
Inventor
中村匡芳
屉部明宏
小路春树
堤匡史
西田笃志
南出隼人
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 CN119212835A publication Critical patent/CN119212835A/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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • 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
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
    • 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
    • G05B2219/39543—Recognize object and plan hand shapes in grasping movements
    • 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
    • G05B2219/40053—Pick 3-D object from pile of objects
    • 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
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation
    • 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
    • G05B2219/40584—Camera, non-contact sensor mounted on wrist, indep from gripper
    • 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
    • G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45063—Pick and place manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN202380025005.7A 2022-03-08 2023-03-07 机器人控制装置以及机器人控制方法 Pending CN119212835A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2022-035713 2022-03-08
JP2022035713 2022-03-08
PCT/JP2023/008675 WO2023171687A1 (ja) 2022-03-08 2023-03-07 ロボット制御装置及びロボット制御方法

Publications (1)

Publication Number Publication Date
CN119212835A true CN119212835A (zh) 2024-12-27

Family

ID=87935134

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202380025005.7A Pending CN119212835A (zh) 2022-03-08 2023-03-07 机器人控制装置以及机器人控制方法

Country Status (5)

Country Link
US (1) US20250187199A1 (https=)
EP (1) EP4491353A4 (https=)
JP (1) JPWO2023171687A1 (https=)
CN (1) CN119212835A (https=)
WO (1) WO2023171687A1 (https=)

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3556589B2 (ja) * 2000-09-20 2004-08-18 ファナック株式会社 位置姿勢認識装置
JP4001105B2 (ja) 2003-12-11 2007-10-31 トヨタ自動車株式会社 ロボットによる任意形状物体の把持方法
JP4226623B2 (ja) * 2006-09-29 2009-02-18 ファナック株式会社 ワーク取り出し装置
JP5288908B2 (ja) * 2008-06-30 2013-09-11 ファナック株式会社 物品整列システム及びロボットハンド
JP5850958B2 (ja) * 2014-01-24 2016-02-03 ファナック株式会社 ワークを撮像するためのロボットプログラムを作成するロボットプログラミング装置
JP2017124450A (ja) * 2016-01-12 2017-07-20 株式会社ソフトサービス ピックアップ装置
JP2018176334A (ja) * 2017-04-10 2018-11-15 キヤノン株式会社 情報処理装置、計測装置、システム、干渉判定方法および物品の製造方法
JP2019188516A (ja) * 2018-04-24 2019-10-31 キヤノン株式会社 情報処理装置、情報処理方法、及びプログラム
JP7504566B2 (ja) * 2019-07-12 2024-06-24 キヤノン株式会社 情報処理方法、ロボットシステム、物品の製造方法、プログラム、記録媒体、および情報処理装置
JP2022160363A (ja) * 2021-04-06 2022-10-19 キヤノン株式会社 ロボットシステム、制御方法、画像処理装置、画像処理方法、物品の製造方法、プログラム、及び記録媒体

Also Published As

Publication number Publication date
EP4491353A4 (en) 2026-03-11
EP4491353A1 (en) 2025-01-15
US20250187199A1 (en) 2025-06-12
JPWO2023171687A1 (https=) 2023-09-14
WO2023171687A1 (ja) 2023-09-14

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