DE112021004632T5 - Robotersteuerungsvorrichtung und robotersystem - Google Patents

Robotersteuerungsvorrichtung und robotersystem Download PDF

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Publication number
DE112021004632T5
DE112021004632T5 DE112021004632.2T DE112021004632T DE112021004632T5 DE 112021004632 T5 DE112021004632 T5 DE 112021004632T5 DE 112021004632 T DE112021004632 T DE 112021004632T DE 112021004632 T5 DE112021004632 T5 DE 112021004632T5
Authority
DE
Germany
Prior art keywords
image
robot
coordinate system
robotic manipulator
control
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.)
Pending
Application number
DE112021004632.2T
Other languages
German (de)
English (en)
Inventor
Mikito HANE
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 DE112021004632T5 publication Critical patent/DE112021004632T5/de
Pending legal-status Critical Current

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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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position 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
    • B25J13/085—Force or torque 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • 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
    • B25J9/1658—Program controls characterised by programming, planning systems for manipulators characterised by programming language
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40032—Peg and hole insertion, mating and joining, remote center compliance
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40099—Graphical user interface for robotics, visual robot user interface
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20092—Interactive image processing based on input by user
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)
DE112021004632.2T 2020-11-02 2021-10-27 Robotersteuerungsvorrichtung und robotersystem Pending DE112021004632T5 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020183920 2020-11-02
JP2020-183920 2020-11-02
PCT/JP2021/039711 WO2022092168A1 (ja) 2020-11-02 2021-10-27 ロボット制御装置及びロボットシステム

Publications (1)

Publication Number Publication Date
DE112021004632T5 true DE112021004632T5 (de) 2023-06-29

Family

ID=81382643

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112021004632.2T Pending DE112021004632T5 (de) 2020-11-02 2021-10-27 Robotersteuerungsvorrichtung und robotersystem

Country Status (5)

Country Link
US (1) US12403594B2 (https=)
JP (1) JPWO2022092168A1 (https=)
CN (1) CN116419827A (https=)
DE (1) DE112021004632T5 (https=)
WO (1) WO2022092168A1 (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022213568B3 (de) 2022-12-13 2024-02-29 Kuka Deutschland Gmbh Kalibrieren einer Steuerung
DE102023133636B3 (de) 2023-12-01 2025-02-06 IGZ Ingenieurgesellschaft für logistische Informationssysteme mbH Robotersystem und Verfahren mit Messung der Greifabweichung

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7835824B1 (ja) * 2024-11-01 2026-03-25 株式会社ダイヘン ロボットシステム

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03251378A (ja) 1990-02-28 1991-11-08 Fanuc Ltd ロボットのキャリブレーション方式
JP2015062991A (ja) 2013-08-28 2015-04-09 キヤノン株式会社 座標系校正方法、ロボットシステム、プログラム及び記録媒体

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3940998B2 (ja) * 2002-06-06 2007-07-04 株式会社安川電機 ロボット装置
DE10305384A1 (de) 2003-02-11 2004-08-26 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Visualisierung rechnergestützter Informationen
JP3708097B2 (ja) 2003-10-08 2005-10-19 ファナック株式会社 ロボットの手動送り装置
JP4191080B2 (ja) * 2004-04-07 2008-12-03 ファナック株式会社 計測装置
US20090118864A1 (en) * 2007-11-01 2009-05-07 Bryce Eldridge Method and system for finding a tool center point for a robot using an external camera
JP2013184257A (ja) * 2012-03-08 2013-09-19 Sony Corp ロボット装置及びロボット装置の制御方法、並びにコンピューター・プログラム
JP2016187844A (ja) * 2015-03-30 2016-11-04 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
US10730180B2 (en) * 2015-05-29 2020-08-04 Abb Schweiz Ag User interface for a teleoperated robot
CN105729468B (zh) * 2016-01-27 2018-01-09 浙江大学 一种基于多深度摄像机增强的机器人工作台
JP2017170571A (ja) * 2016-03-24 2017-09-28 セイコーエプソン株式会社 ロボット、ロボット制御装置、及びロボットシステム
US10363661B2 (en) * 2016-07-27 2019-07-30 Seiko Epson Corporation Control device, robot, and robot system
JP2018069361A (ja) * 2016-10-27 2018-05-10 セイコーエプソン株式会社 力制御座標軸設定装置、ロボットおよび力制御座標軸設定方法
JP6445092B2 (ja) * 2017-05-31 2018-12-26 ファナック株式会社 ロボットの教示のための情報を表示するロボットシステム
JP7124440B2 (ja) * 2018-05-23 2022-08-24 セイコーエプソン株式会社 ロボット制御装置およびロボットシステム
JP6740288B2 (ja) * 2018-07-13 2020-08-12 ファナック株式会社 物体検査装置、物体検査システム、及び検査位置を調整する方法
JP6787966B2 (ja) 2018-10-02 2020-11-18 ファナック株式会社 拡張現実と複合現実を用いたロボット制御装置及び表示装置
JP7172466B2 (ja) * 2018-11-08 2022-11-16 株式会社Ihi ツールセンターポイントの設定方法及び設定装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03251378A (ja) 1990-02-28 1991-11-08 Fanuc Ltd ロボットのキャリブレーション方式
JP2015062991A (ja) 2013-08-28 2015-04-09 キヤノン株式会社 座標系校正方法、ロボットシステム、プログラム及び記録媒体

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022213568B3 (de) 2022-12-13 2024-02-29 Kuka Deutschland Gmbh Kalibrieren einer Steuerung
DE102023133636B3 (de) 2023-12-01 2025-02-06 IGZ Ingenieurgesellschaft für logistische Informationssysteme mbH Robotersystem und Verfahren mit Messung der Greifabweichung

Also Published As

Publication number Publication date
US12403594B2 (en) 2025-09-02
WO2022092168A1 (ja) 2022-05-05
JPWO2022092168A1 (https=) 2022-05-05
TW202218836A (zh) 2022-05-16
CN116419827A (zh) 2023-07-11
US20230321823A1 (en) 2023-10-12

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