DE112021000503B4 - Steuerungssystem - Google Patents

Steuerungssystem Download PDF

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Publication number
DE112021000503B4
DE112021000503B4 DE112021000503.0T DE112021000503T DE112021000503B4 DE 112021000503 B4 DE112021000503 B4 DE 112021000503B4 DE 112021000503 T DE112021000503 T DE 112021000503T DE 112021000503 B4 DE112021000503 B4 DE 112021000503B4
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DE
Germany
Prior art keywords
robot
sensor
data
data sets
control 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.)
Active
Application number
DE112021000503.0T
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German (de)
English (en)
Other versions
DE112021000503T5 (de
Inventor
Kiichi Teramoto
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.)
Fanuc Corp
Original Assignee
Fanuc 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 Fanuc Corp filed Critical Fanuc Corp
Publication of DE112021000503T5 publication Critical patent/DE112021000503T5/de
Application granted granted Critical
Publication of DE112021000503B4 publication Critical patent/DE112021000503B4/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J9/1641—Program controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • 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—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/404—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 program data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • 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
    • G05B2219/37388—Acceleration or deceleration, inertial measurement
    • 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
    • G05B2219/37434—Measuring vibration of machine or workpiece or tool
    • 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
    • G05B2219/37435—Vibration of machine
    • 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
    • G05B2219/37634—By measuring vibration
    • 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
    • G05B2219/39199—Active vibration absorber

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
DE112021000503.0T 2020-01-10 2021-01-06 Steuerungssystem Active DE112021000503B4 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020002976 2020-01-10
JP2020-002976 2020-01-10
PCT/JP2021/000226 WO2021141049A1 (ja) 2020-01-10 2021-01-06 制御システム

Publications (2)

Publication Number Publication Date
DE112021000503T5 DE112021000503T5 (de) 2022-11-17
DE112021000503B4 true DE112021000503B4 (de) 2025-07-10

Family

ID=76788771

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112021000503.0T Active DE112021000503B4 (de) 2020-01-10 2021-01-06 Steuerungssystem

Country Status (5)

Country Link
US (1) US12350844B2 (https=)
JP (1) JP7384933B2 (https=)
CN (1) CN114929435B (https=)
DE (1) DE112021000503B4 (https=)
WO (1) WO2021141049A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112022006936B4 (de) 2022-06-15 2026-03-05 Yamaha Hatsudoki Kabushiki Kaisha Assistenzvorrichtung und Robotersystem

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1803536A1 (en) * 2004-08-25 2007-07-04 Kabushiki Kaisha Yaskawa Denki Robot evaluation system and evaluation method
JP2011167817A (ja) * 2010-02-19 2011-09-01 Fanuc Ltd 学習制御機能を備えたロボット
JP2012240142A (ja) * 2011-05-17 2012-12-10 Fanuc Ltd 学習制御機能を備えたスポット溶接ロボット
DE102013011065B4 (de) * 2012-07-09 2015-06-18 Fanuc Corporation Vibrationssteuerungsrobotersystem
DE102014019409B4 (de) * 2013-12-26 2018-08-30 Fanuc Corporation Robotersystem mit drahtlosem Beschleunigungssensor
JP2019042842A (ja) * 2017-08-31 2019-03-22 株式会社神戸製鋼所 駆動機械の学習制御装置及び学習制御方法
DE102018000445B4 (de) * 2017-01-26 2019-09-19 Fanuc Corporation Steuersystem mit Lernsteuerfunktionen und Steuerverfahren
DE102019205890A1 (de) * 2018-05-09 2019-11-14 Fanuc Corporation Steuerungssystem und Verfahren zum Steuern eines angetriebenen Körpers

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06324733A (ja) 1993-05-12 1994-11-25 Fanuc Ltd センサ付きロボットの制御方法及び装置
JPH07164358A (ja) 1993-12-16 1995-06-27 Meidensha Corp ロボット制御装置
JP3367461B2 (ja) * 1999-04-13 2003-01-14 日本電気株式会社 移動体姿勢角検出装置
DE102007035485A1 (de) * 2007-07-28 2009-01-29 Volkswagen Ag Laserschweißvorrichtung zum Fügen von Bauteilen
JP5035370B2 (ja) * 2010-03-12 2012-09-26 沖電気工業株式会社 運動検出装置、運動検出方法、及びプログラム
CN102510793B (zh) 2010-06-04 2015-01-28 中国科学院自动化研究所 加速度连续的机器人轨迹生成系统和方法
JP6017213B2 (ja) 2012-07-20 2016-10-26 株式会社神戸製鋼所 光学式センサ付きロボットのキャリブレーション方法
JP2014030857A (ja) 2012-08-01 2014-02-20 Seiko Epson Corp ロボット及び搬送装置
JP2017196704A (ja) 2016-04-28 2017-11-02 セイコーエプソン株式会社 可動部の振動測定方法、ロボットの振動測定方法および制御装置
CN105868870A (zh) * 2016-05-17 2016-08-17 北京数行健科技有限公司 一种基于数据融合的城市快速路旅行时间估计方法和装置
WO2019043852A1 (ja) * 2017-08-30 2019-03-07 三菱電機株式会社 数値制御システムおよびモータ制御装置
CN109543703B (zh) 2017-09-22 2023-06-23 华为技术有限公司 传感器数据处理的方法及装置
CN108189637A (zh) * 2017-12-29 2018-06-22 燕山大学 一种应急救援车辆主动悬挂作动器控制量的数据融合方法
CN110134913B (zh) * 2018-02-08 2023-08-18 松下知识产权经营株式会社 数据分析方法、数据分析装置以及记录介质
JP6748126B2 (ja) 2018-02-08 2020-08-26 ファナック株式会社 作業ロボットシステム
DK180673B1 (en) * 2019-12-29 2021-11-25 Universal Robots As Method of obtaining vibrational properties of robot arm

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1803536A1 (en) * 2004-08-25 2007-07-04 Kabushiki Kaisha Yaskawa Denki Robot evaluation system and evaluation method
JP2011167817A (ja) * 2010-02-19 2011-09-01 Fanuc Ltd 学習制御機能を備えたロボット
JP2012240142A (ja) * 2011-05-17 2012-12-10 Fanuc Ltd 学習制御機能を備えたスポット溶接ロボット
DE102013011065B4 (de) * 2012-07-09 2015-06-18 Fanuc Corporation Vibrationssteuerungsrobotersystem
DE102014019409B4 (de) * 2013-12-26 2018-08-30 Fanuc Corporation Robotersystem mit drahtlosem Beschleunigungssensor
DE102018000445B4 (de) * 2017-01-26 2019-09-19 Fanuc Corporation Steuersystem mit Lernsteuerfunktionen und Steuerverfahren
JP2019042842A (ja) * 2017-08-31 2019-03-22 株式会社神戸製鋼所 駆動機械の学習制御装置及び学習制御方法
DE102019205890A1 (de) * 2018-05-09 2019-11-14 Fanuc Corporation Steuerungssystem und Verfahren zum Steuern eines angetriebenen Körpers

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112022006936B4 (de) 2022-06-15 2026-03-05 Yamaha Hatsudoki Kabushiki Kaisha Assistenzvorrichtung und Robotersystem

Also Published As

Publication number Publication date
JPWO2021141049A1 (https=) 2021-07-15
JP7384933B2 (ja) 2023-11-21
US20230033679A1 (en) 2023-02-02
CN114929435B (zh) 2024-12-20
US12350844B2 (en) 2025-07-08
DE112021000503T5 (de) 2022-11-17
CN114929435A (zh) 2022-08-19
WO2021141049A1 (ja) 2021-07-15

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R018 Grant decision by examination section/examining division