DE112021000584B4 - Steuervorrichtung für Roboter, Robotersystem, Kontrollverfahren und Programm - Google Patents

Steuervorrichtung für Roboter, Robotersystem, Kontrollverfahren und Programm

Info

Publication number
DE112021000584B4
DE112021000584B4 DE112021000584.7T DE112021000584T DE112021000584B4 DE 112021000584 B4 DE112021000584 B4 DE 112021000584B4 DE 112021000584 T DE112021000584 T DE 112021000584T DE 112021000584 B4 DE112021000584 B4 DE 112021000584B4
Authority
DE
Germany
Prior art keywords
robot
target
coordinate system
work
work area
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
DE112021000584.7T
Other languages
German (de)
English (en)
Other versions
DE112021000584T5 (de
Inventor
Daigo Watanabe
Tomonori Matsushima
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 DE112021000584T5 publication Critical patent/DE112021000584T5/de
Application granted granted Critical
Publication of DE112021000584B4 publication Critical patent/DE112021000584B4/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0055—Cutting
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • G05B19/401—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 measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes

Landscapes

  • 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)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE112021000584.7T 2020-01-17 2021-01-12 Steuervorrichtung für Roboter, Robotersystem, Kontrollverfahren und Programm Active DE112021000584B4 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020-006237 2020-01-17
JP2020006237 2020-01-17
PCT/JP2021/000711 WO2021145311A1 (ja) 2020-01-17 2021-01-12 ロボットの制御装置、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 (2)

Publication Number Publication Date
DE112021000584T5 DE112021000584T5 (de) 2022-12-01
DE112021000584B4 true DE112021000584B4 (de) 2025-12-04

Family

ID=76863814

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112021000584.7T Active DE112021000584B4 (de) 2020-01-17 2021-01-12 Steuervorrichtung für Roboter, Robotersystem, Kontrollverfahren und Programm

Country Status (5)

Country Link
US (1) US12134195B2 (https=)
JP (1) JP7414851B2 (https=)
CN (1) CN114981045B (https=)
DE (1) DE112021000584B4 (https=)
WO (1) WO2021145311A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117836099A (zh) * 2021-08-20 2024-04-05 发那科株式会社 对机器人把持工件的位置以及姿势进行示教的装置、机器人系统以及方法
CN115870652B (zh) * 2021-09-27 2025-10-28 中联重科股份有限公司 用于底盘大梁的切割方法、装置及系统
CN116690580B (zh) * 2023-07-14 2026-01-09 中国石油大学(华东) 一种油泥沉积罐底检测机器人自适应控制定位方法
CN117103259A (zh) * 2023-08-22 2023-11-24 南京蔚蓝智能科技有限公司 目标跟随方法、装置、可移动的跟随设备和存储介质
US12214454B1 (en) * 2023-11-22 2025-02-04 Pratt & Whitney Canada Corp. System and method for machining a workpiece installed on a rotary table

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06246660A (ja) * 1993-02-19 1994-09-06 Hitachi Ltd 産業用ロボット及びその制御方法
JPH0976065A (ja) * 1995-09-12 1997-03-25 Matsushita Electric Ind Co Ltd 溶接用ロボット
JP2002081927A (ja) * 2000-09-08 2002-03-22 Kobe Steel Ltd ワークの位置ずれの測定方法
DE60129009T2 (de) * 2000-04-10 2008-03-06 Abb Ab Bewegungskorrektur eines industrieroboters
DE112012006074T5 (de) * 2012-03-21 2014-12-04 Mitsubishi Electric Corporation Bahnregelungsvorrichtung
EP2906384B1 (en) * 2012-10-12 2018-07-04 Meta Vision Systems Limited Methods and systems for weld control
US20190160583A1 (en) * 2017-11-29 2019-05-30 Lincoln Global, Inc. Methods and systems using a smart torch with positional tracking in robotic welding

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60262214A (ja) * 1984-06-06 1985-12-25 Nippei Toyama Corp 加工中心経路の補正方法
US4675502A (en) 1985-12-23 1987-06-23 General Electric Company Real time tracking control for taught path robots
JPH02160486A (ja) 1988-12-08 1990-06-20 Matsushita Electric Ind Co Ltd ロボットの位置補正方法
JPH06282321A (ja) 1992-01-16 1994-10-07 Shin Nippon Koki Kk 工作機械の数値制御プログラム変換作成方法及び装置並びに数値制御工作機械
JP2004188594A (ja) * 2004-03-01 2004-07-08 Fanuc Ltd ロボット制御装置
JP2015000455A (ja) * 2013-06-17 2015-01-05 キヤノン株式会社 ロボット装置及びロボット装置の制御方法
JP6129058B2 (ja) * 2013-11-13 2017-05-17 三菱電機株式会社 教示点補正装置および教示点補正方法
WO2016208467A1 (ja) * 2015-06-22 2016-12-29 三菱電機株式会社 キャリブレーション装置およびこれを用いたロボットシステム
JP2018012184A (ja) * 2016-07-22 2018-01-25 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
JP7314475B2 (ja) * 2016-11-11 2023-07-26 セイコーエプソン株式会社 ロボット制御装置、及び、ロボット制御方法
WO2018088199A1 (ja) * 2016-11-11 2018-05-17 セイコーエプソン株式会社 ロボット制御装置、ロボット、ロボットシステム、及び、ロボット制御方法
WO2018173165A1 (ja) 2017-03-22 2018-09-27 三菱電機株式会社 教示プログラム、教示方法およびロボットシステム
JP7104782B2 (ja) * 2018-05-18 2022-07-21 株式会社Fuji 搬送装置およびそれを備える作業機

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06246660A (ja) * 1993-02-19 1994-09-06 Hitachi Ltd 産業用ロボット及びその制御方法
JPH0976065A (ja) * 1995-09-12 1997-03-25 Matsushita Electric Ind Co Ltd 溶接用ロボット
DE60129009T2 (de) * 2000-04-10 2008-03-06 Abb Ab Bewegungskorrektur eines industrieroboters
JP2002081927A (ja) * 2000-09-08 2002-03-22 Kobe Steel Ltd ワークの位置ずれの測定方法
DE112012006074T5 (de) * 2012-03-21 2014-12-04 Mitsubishi Electric Corporation Bahnregelungsvorrichtung
EP2906384B1 (en) * 2012-10-12 2018-07-04 Meta Vision Systems Limited Methods and systems for weld control
US20190160583A1 (en) * 2017-11-29 2019-05-30 Lincoln Global, Inc. Methods and systems using a smart torch with positional tracking in robotic welding

Also Published As

Publication number Publication date
WO2021145311A1 (ja) 2021-07-22
DE112021000584T5 (de) 2022-12-01
JPWO2021145311A1 (https=) 2021-07-22
JP7414851B2 (ja) 2024-01-16
CN114981045B (zh) 2025-12-23
US12134195B2 (en) 2024-11-05
US20230053168A1 (en) 2023-02-16
CN114981045A (zh) 2022-08-30

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