DE102014117346B4 - Roboter, Robotersteuerungsverfahren und Robotersteuerungsprogramm zur Werkstückkorrektur - Google Patents

Roboter, Robotersteuerungsverfahren und Robotersteuerungsprogramm zur Werkstückkorrektur Download PDF

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Publication number
DE102014117346B4
DE102014117346B4 DE102014117346.5A DE102014117346A DE102014117346B4 DE 102014117346 B4 DE102014117346 B4 DE 102014117346B4 DE 102014117346 A DE102014117346 A DE 102014117346A DE 102014117346 B4 DE102014117346 B4 DE 102014117346B4
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German (de)
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DE102014117346A1 (de
Inventor
c/o Janome Sewing Machine Co. Sumii Yusuke
Hiruma Kenichiro c/o Janome Sewing Machine Co.
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Janome Corp
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Janome Sewing Machine Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • 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
    • G05B2219/37021—Robot controls position of touch probe
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/16—Cartesian, three degrees of freedom
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
DE102014117346.5A 2013-12-20 2014-11-26 Roboter, Robotersteuerungsverfahren und Robotersteuerungsprogramm zur Werkstückkorrektur Active DE102014117346B4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2013-263654 2013-12-20
JP2013263654A JP6475409B2 (ja) 2013-12-20 2013-12-20 ロボット、ロボットの制御方法、及びロボットの制御プログラム

Publications (2)

Publication Number Publication Date
DE102014117346A1 DE102014117346A1 (de) 2015-08-06
DE102014117346B4 true DE102014117346B4 (de) 2017-05-24

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DE102014117346.5A Active DE102014117346B4 (de) 2013-12-20 2014-11-26 Roboter, Robotersteuerungsverfahren und Robotersteuerungsprogramm zur Werkstückkorrektur

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Country Link
US (1) US9958856B2 (enExample)
JP (1) JP6475409B2 (enExample)
KR (1) KR101658417B1 (enExample)
CN (1) CN104723338B (enExample)
DE (1) DE102014117346B4 (enExample)
TW (1) TWI566906B (enExample)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6311695B2 (ja) 2015-12-16 2018-04-18 カシオ計算機株式会社 自律移動装置、自律移動方法及びプログラム
CN105551323A (zh) * 2016-01-29 2016-05-04 广州中鸣数码科技有限公司 基于无线连接的智能点读笔
JP6795471B2 (ja) * 2017-08-25 2020-12-02 ファナック株式会社 ロボットシステム
JP6963748B2 (ja) * 2017-11-24 2021-11-10 株式会社安川電機 ロボットシステム及びロボットシステムの制御方法
CN109226928B (zh) * 2018-11-14 2021-05-25 紫光日东科技（深圳）有限公司 一种焊接材料设置方法和点锡机
CN110253567B (zh) * 2019-05-22 2021-07-20 深圳镁伽科技有限公司 用于控制机器人运动的运动控制系统、方法及机器人
CN113021329B (zh) * 2019-12-24 2022-08-02 深圳市优必选科技股份有限公司 一种机器人运动控制方法、装置、可读存储介质及机器人
CN113780464B (zh) * 2021-09-26 2024-10-15 唐山百川智能机器股份有限公司 转向架紧固件防松标识检测方法

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DE3406255A1 (de) * 1983-02-21 1984-09-27 Mitsubishi Denki K.K., Tokio/Tokyo Robotersteuerapparat
US6021361A (en) * 1994-06-17 2000-02-01 Komatsu, Ltd. Robot control system
JP2007193846A (ja) * 2000-08-25 2007-08-02 Janome Sewing Mach Co Ltd ロボットの動作設定方法
US20090228144A1 (en) * 2006-05-31 2009-09-10 Yoshiyuki Okazaki Method For Calculating Rotation Center Point And Axis Of Rotation, Method For Generating Program, Method For Moving Manipulator And Positioning Device, And Robotic System

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SE402540B (sv) * 1976-08-13 1978-07-10 Asea Ab Forfarande och anordning for att vid en givarstyrd industrirobot astadkomma en approximativ transformation mellan givarens och robotarmens olika koordinatsystem for styrning av roboten inom ett forutbestemt ...
JPH01153289A (ja) * 1987-12-10 1989-06-15 Mitsubishi Electric Corp 産業用ロボット装置
JPH0623562A (ja) * 1992-07-07 1994-02-01 Ohara Kk 電動機駆動による点溶接ガンの加圧力制御装置
JPH0623652A (ja) * 1992-07-09 1994-02-01 Mitsui Seiki Kogyo Co Ltd ワークオフセット値設定装置
JPH06187021A (ja) * 1992-12-15 1994-07-08 Citizen Watch Co Ltd 視覚付きロボットの座標補正方法
JPH06218683A (ja) * 1993-01-20 1994-08-09 Tokico Ltd ワーク位置ずれ検知装置
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JP2004299013A (ja) * 2003-03-31 2004-10-28 Fanuc Ltd 誤差修正フィードバック機能を有するロボットオフラインプログラミング装置
JP2006099260A (ja) * 2004-09-28 2006-04-13 Fanuc Ltd ロボットプログラム作成装置
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JP2011206878A (ja) * 2010-03-29 2011-10-20 Fuji Xerox Co Ltd 組立検査装置及びこれを用いた組立処理装置
KR101271222B1 (ko) * 2010-11-30 2013-06-07 김종길 Ｃｎｃ 선반
KR101181613B1 (ko) * 2011-02-21 2012-09-10 윤상진 사용자 지정에 따라 결정되는 변위 정보에 기초하여 수술을 수행하는 수술용 로봇 시스템과 그 제어 방법
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Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3406255A1 (de) * 1983-02-21 1984-09-27 Mitsubishi Denki K.K., Tokio/Tokyo Robotersteuerapparat
US6021361A (en) * 1994-06-17 2000-02-01 Komatsu, Ltd. Robot control system
JP2007193846A (ja) * 2000-08-25 2007-08-02 Janome Sewing Mach Co Ltd ロボットの動作設定方法
US20090228144A1 (en) * 2006-05-31 2009-09-10 Yoshiyuki Okazaki Method For Calculating Rotation Center Point And Axis Of Rotation, Method For Generating Program, Method For Moving Manipulator And Positioning Device, And Robotic System

Also Published As

Publication number Publication date
TW201524721A (zh) 2015-07-01
KR20150073068A (ko) 2015-06-30
JP6475409B2 (ja) 2019-02-27
US9958856B2 (en) 2018-05-01
DE102014117346A1 (de) 2015-08-06
KR101658417B1 (ko) 2016-09-21
JP2015116655A (ja) 2015-06-25
CN104723338A (zh) 2015-06-24
US20150177730A1 (en) 2015-06-25
CN104723338B (zh) 2017-11-14
TWI566906B (zh) 2017-01-21

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Owner name: JANOME CORPORATION, JP

Free format text: FORMER OWNER: JANOME SEWING MACHINE CO., LTD., HACHIOJI-SHI, TOKYO, JP