DE112021002634B4 - Steuervorrichtung und Robotersystem - Google Patents

Steuervorrichtung und Robotersystem Download PDF

Info

Publication number
DE112021002634B4
DE112021002634B4 DE112021002634.8T DE112021002634T DE112021002634B4 DE 112021002634 B4 DE112021002634 B4 DE 112021002634B4 DE 112021002634 T DE112021002634 T DE 112021002634T DE 112021002634 B4 DE112021002634 B4 DE 112021002634B4
Authority
DE
Germany
Prior art keywords
axis
control
axes
relationship
motors
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
DE112021002634.8T
Other languages
German (de)
English (en)
Other versions
DE112021002634T5 (de
Inventor
Soichi Arita
Kenichiro Oguri
Kazuki Sawada
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 DE112021002634T5 publication Critical patent/DE112021002634T5/de
Application granted granted Critical
Publication of DE112021002634B4 publication Critical patent/DE112021002634B4/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1651—Program controls characterised by the control loop acceleration, rate control
    • 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
    • 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
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE112021002634.8T 2020-07-31 2021-07-27 Steuervorrichtung und Robotersystem Active DE112021002634B4 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020130903 2020-07-31
JP2020-130903 2020-07-31
PCT/JP2021/027780 WO2022025072A1 (ja) 2020-07-31 2021-07-27 制御装置及びロボットシステム

Publications (2)

Publication Number Publication Date
DE112021002634T5 DE112021002634T5 (de) 2023-03-23
DE112021002634B4 true DE112021002634B4 (de) 2025-05-15

Family

ID=80036609

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112021002634.8T Active DE112021002634B4 (de) 2020-07-31 2021-07-27 Steuervorrichtung und Robotersystem

Country Status (5)

Country Link
US (1) US20230302639A1 (https=)
JP (1) JP7392159B2 (https=)
CN (1) CN116209547A (https=)
DE (1) DE112021002634B4 (https=)
WO (1) WO2022025072A1 (https=)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0480046A1 (en) * 1990-03-29 1992-04-15 Fanuc Ltd. Method of controlling attitude of cnc laser working machine
US5201239A (en) * 1990-10-16 1993-04-13 Honda Giken Kogyo Kabushiki Kaisha Industrial robot with wrist actuator mechanism
JP2008272873A (ja) * 2007-04-27 2008-11-13 Seiko Epson Corp ロボット、及び、ロボット用のアタッチメント
DE112012006256B4 (de) * 2012-04-20 2015-11-19 Mitsubishi Electric Corporation Robotergelenkstruktur
WO2019012942A1 (ja) * 2017-07-11 2019-01-17 パナソニックＩｐマネジメント株式会社 ロボット制御装置
US20190022860A1 (en) * 2015-08-28 2019-01-24 Dentsu Inc. Data conversion apparatus, robot, program, and information processing method

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0224075A (ja) * 1988-07-13 1990-01-26 Mitsubishi Electric Corp 産業用ロボット
JPH0663884A (ja) * 1992-08-20 1994-03-08 Tokico Ltd 位置検出装置
JP2000000785A (ja) * 1998-06-11 2000-01-07 Meidensha Corp マニプレータの制御装置
CN102029608A (zh) * 2009-09-24 2011-04-27 鸿富锦精密工业（深圳）有限公司 机器人
JP5370392B2 (ja) * 2011-02-23 2013-12-18 株式会社安川電機 ロボットシステム、ロボット制御装置およびロボット制御方法
JP6504864B2 (ja) * 2015-03-13 2019-04-24 キヤノン株式会社 ロボット制御方法、ロボット装置、プログラム、記録媒体及び物品の製造方法
CN106863347B (zh) * 2017-03-07 2023-08-18 壹利特机器人科技（常州）有限公司 一种模块化两自由度机器人关节
JP7117827B2 (ja) * 2017-05-18 2022-08-15 川崎重工業株式会社 モータ制御システム、モータ制御システムの制御方法、及びロボットシステム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0480046A1 (en) * 1990-03-29 1992-04-15 Fanuc Ltd. Method of controlling attitude of cnc laser working machine
US5201239A (en) * 1990-10-16 1993-04-13 Honda Giken Kogyo Kabushiki Kaisha Industrial robot with wrist actuator mechanism
JP2008272873A (ja) * 2007-04-27 2008-11-13 Seiko Epson Corp ロボット、及び、ロボット用のアタッチメント
DE112012006256B4 (de) * 2012-04-20 2015-11-19 Mitsubishi Electric Corporation Robotergelenkstruktur
US20190022860A1 (en) * 2015-08-28 2019-01-24 Dentsu Inc. Data conversion apparatus, robot, program, and information processing method
WO2019012942A1 (ja) * 2017-07-11 2019-01-17 パナソニックＩｐマネジメント株式会社 ロボット制御装置

Also Published As

Publication number Publication date
JPWO2022025072A1 (https=) 2022-02-03
DE112021002634T5 (de) 2023-03-23
JP7392159B2 (ja) 2023-12-05
CN116209547A (zh) 2023-06-02
WO2022025072A1 (ja) 2022-02-03
US20230302639A1 (en) 2023-09-28

Similar Documents

Publication Publication Date Title
DE112016005365B4 (de) Direktes Lehrverfahren eines Roboters
EP2243602B1 (de) Verfahren und Vorrichtung zur Regelung eines Manipulators
DE3786860T2 (de) Regelvorrichtung für einen roboter.
DE60020466T2 (de) Parallelroboter mit vier Freiheitsgraden
DE112013003209B4 (de) Robotersteuerungsvorrichtung und Robotersteuerungsverfahren
DE3046897C2 (https=)
DE102015004483B4 (de) Robotersteuerung und Robotersystem zum Bewegen eines Roboters als Reaktion auf eine Kraft
DE102017128652A1 (de) Robotersystem mit einer mehrzahl von robotern, robotersteuerung und robotersteuerverfahren
DE102012205591A1 (de) Verfahren und Programm zum Berechnen eines Korrekturwerts für eine Werkzeugmaschine
DE102015004481B4 (de) Robotersteuervorrichtung zum Steuern eines gemäß einer ausgeübten Kraft bewegten Roboters
DE102015009654A1 (de) Mobiler kooperativer roboter
DE102010045525A1 (de) Handgelenk eines geschickten humanoiden Roboters
DE102010045531A1 (de) Serielles elastisches Drehstellglied
DE112018001042T5 (de) Steuersystem, Steuerungsverfahren und chirurgisches Armsystem
DE102018009169A1 (de) Steuervorrichtung zum Begrenzen der Geschwindigkeit eines Roboters
EP2563553A1 (de) Verfahren und steuermittel zum steuern eines roboters
DE112014006610B4 (de) Robotersteuerungsvorrichtung und Robotersteuerungsverfahren
DE10314547A1 (de) Parallelmanipulator und Vorrichtung zu seiner Steuerung
DE102019122416B4 (de) Roboter
DE112020001111T5 (de) Parallelmechanismus mit kinematisch redundanter Betätigung
DE102018133349A1 (de) Verfahren und Vorrichtung zur Momentschätzung
DE112021000584T5 (de) Steuervorrichtung für Roboter, Robotersystem, Kontrollverfahren und Programm
DE102022110140A1 (de) Konforme präsentation der nutzlast durch ein robotersystem mit koordinierten seriellen und parallelen robotern
DE102016009436B4 (de) Robotersteuerung, die ein Rütteln einer Werkzeugspitze bei einem Roboter verhindert, der mit einer Verfahrachse ausgestattet ist
EP4061586B1 (de) Kraftmessung und krafterzeugung in redundanten robotermanipulatoren

Legal Events

Date Code Title Description
R083 Amendment of/additions to inventor(s)
R012 Request for examination validly filed
R016 Response to examination communication
R018 Grant decision by examination section/examining division
R020 Patent grant now final