DE112021002026B4 - Offline-Simulationssystem - Google Patents

Offline-Simulationssystem Download PDF

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Publication number
DE112021002026B4
DE112021002026B4 DE112021002026.9T DE112021002026T DE112021002026B4 DE 112021002026 B4 DE112021002026 B4 DE 112021002026B4 DE 112021002026 T DE112021002026 T DE 112021002026T DE 112021002026 B4 DE112021002026 B4 DE 112021002026B4
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DE
Germany
Prior art keywords
workpiece
unit
virtual space
camera
compensation
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
DE112021002026.9T
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German (de)
English (en)
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DE112021002026T5 (de
Inventor
Yuusuke MURATA
Hiromitsu Takahashi
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 DE112021002026T5 publication Critical patent/DE112021002026T5/de
Application granted granted Critical
Publication of DE112021002026B4 publication Critical patent/DE112021002026B4/de
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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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • 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
    • 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
    • G05B19/4155—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 program execution, i.e. part program or machine function execution, e.g. selection of a program
    • 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
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/427—Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, leader-follower 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39014—Match virtual world with real world
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50391—Robot

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE112021002026.9T 2020-03-30 2021-03-24 Offline-Simulationssystem Active DE112021002026B4 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020060313 2020-03-30
JP2020-060313 2020-03-30
PCT/JP2021/012229 WO2021200470A1 (ja) 2020-03-30 2021-03-24 オフラインシミュレーションシステム

Publications (2)

Publication Number Publication Date
DE112021002026T5 DE112021002026T5 (de) 2023-02-09
DE112021002026B4 true DE112021002026B4 (de) 2025-07-10

Family

ID=77928366

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112021002026.9T Active DE112021002026B4 (de) 2020-03-30 2021-03-24 Offline-Simulationssystem

Country Status (5)

Country Link
US (1) US12090669B2 (https=)
JP (1) JP7381718B2 (https=)
CN (1) CN115397629A (https=)
DE (1) DE112021002026B4 (https=)
WO (1) WO2021200470A1 (https=)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006260271A (ja) * 2005-03-17 2006-09-28 Fanuc Ltd オフライン教示装置
EP2962814A2 (en) * 2014-06-30 2016-01-06 Kabushiki Kaisha Yaskawa Denki Robot simulator and file generation method for robot simulator
DE102015000589B4 (de) * 2014-01-23 2016-07-14 Fanuc Corporation Datenerzeugungsvorrichtung für einen visuellen Sensor und ein Erfassungssimulationssystem
DE112015002687T5 (de) * 2014-06-06 2017-03-09 Nabtesco Corporation Einstelldatenerzeugungsvorrichtung und Einstelldatenerzeugungsverfahren für einen Arbeitsroboter
US20180297202A1 (en) * 2017-04-14 2018-10-18 Seiko Epson Corporation Simulation Apparatus And Robot Control Apparatus
DE102019001038A1 (de) * 2018-02-19 2019-08-22 Fanuc Corporation Simulationsvorrichtung, die den Arbeitsablauf eines Roboters simuliert
DE102019002898A1 (de) * 2018-04-25 2019-11-07 Fanuc Corporation Robotorsimulationsvorrichtung

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4238256B2 (ja) * 2006-06-06 2009-03-18 ファナック株式会社 ロボットシミュレーション装置
JP2009119589A (ja) * 2007-11-19 2009-06-04 Yaskawa Electric Corp ロボットシミュレータ
US7945349B2 (en) * 2008-06-09 2011-05-17 Abb Technology Ab Method and a system for facilitating calibration of an off-line programmed robot cell
JP6126067B2 (ja) * 2014-11-28 2017-05-10 ファナック株式会社 工作機械及びロボットを備えた協働システム
US9740191B2 (en) * 2015-02-12 2017-08-22 The Boeing Company Location calibration for automated production manufacturing
JP7259284B2 (ja) * 2017-11-28 2023-04-18 株式会社デンソーウェーブ 教示装置、教示方法
EP3566824B1 (en) * 2018-05-11 2023-06-28 Siemens Aktiengesellschaft Method, apparatus, computer-readable storage media and a computer program for robotic programming
CN110238831B (zh) * 2019-07-23 2020-09-18 青岛理工大学 基于rgb-d图像及示教器的机器人示教系统及方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006260271A (ja) * 2005-03-17 2006-09-28 Fanuc Ltd オフライン教示装置
DE102015000589B4 (de) * 2014-01-23 2016-07-14 Fanuc Corporation Datenerzeugungsvorrichtung für einen visuellen Sensor und ein Erfassungssimulationssystem
DE112015002687T5 (de) * 2014-06-06 2017-03-09 Nabtesco Corporation Einstelldatenerzeugungsvorrichtung und Einstelldatenerzeugungsverfahren für einen Arbeitsroboter
EP2962814A2 (en) * 2014-06-30 2016-01-06 Kabushiki Kaisha Yaskawa Denki Robot simulator and file generation method for robot simulator
US20180297202A1 (en) * 2017-04-14 2018-10-18 Seiko Epson Corporation Simulation Apparatus And Robot Control Apparatus
DE102019001038A1 (de) * 2018-02-19 2019-08-22 Fanuc Corporation Simulationsvorrichtung, die den Arbeitsablauf eines Roboters simuliert
DE102019002898A1 (de) * 2018-04-25 2019-11-07 Fanuc Corporation Robotorsimulationsvorrichtung

Also Published As

Publication number Publication date
JP7381718B2 (ja) 2023-11-15
JPWO2021200470A1 (https=) 2021-10-07
WO2021200470A1 (ja) 2021-10-07
CN115397629A (zh) 2022-11-25
DE112021002026T5 (de) 2023-02-09
US12090669B2 (en) 2024-09-17
US20230090193A1 (en) 2023-03-23

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