DE112023000819T5 - Weggenerierungsvorrichtung - Google Patents

Weggenerierungsvorrichtung Download PDF

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Publication number
DE112023000819T5
DE112023000819T5 DE112023000819.1T DE112023000819T DE112023000819T5 DE 112023000819 T5 DE112023000819 T5 DE 112023000819T5 DE 112023000819 T DE112023000819 T DE 112023000819T DE 112023000819 T5 DE112023000819 T5 DE 112023000819T5
Authority
DE
Germany
Prior art keywords
maximum offset
acceleration
deceleration
path
modifying
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.)
Withdrawn
Application number
DE112023000819.1T
Other languages
German (de)
English (en)
Inventor
Kiyoshi Maekawa
Satoru Matsuoka
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.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric 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 Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of DE112023000819T5 publication Critical patent/DE112023000819T5/de
Withdrawn legal-status Critical Current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
    • B25J9/1656—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
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • G05B2219/40476—Collision, planning for collision free path
    • 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
    • G05B2219/40519—Motion, trajectory planning

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE112023000819.1T 2022-02-04 2023-01-25 Weggenerierungsvorrichtung Withdrawn DE112023000819T5 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2022016096 2022-02-04
JP2022-016096 2022-02-04
PCT/JP2023/002235 WO2023149298A1 (ja) 2022-02-04 2023-01-25 軌道生成装置

Publications (1)

Publication Number Publication Date
DE112023000819T5 true DE112023000819T5 (de) 2024-11-28

Family

ID=87552189

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112023000819.1T Withdrawn DE112023000819T5 (de) 2022-02-04 2023-01-25 Weggenerierungsvorrichtung

Country Status (5)

Country Link
US (1) US20250100142A1 (https=)
JP (1) JP7399357B1 (https=)
CN (1) CN118632766A (https=)
DE (1) DE112023000819T5 (https=)
WO (1) WO2023149298A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7829543B2 (ja) * 2023-12-22 2026-03-13 株式会社安川電機 ロボットシステム及び制御方法
US20260021581A1 (en) * 2024-07-17 2026-01-22 Fanuc Corporation Height map collision avoidance

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019135076A (ja) 2018-02-05 2019-08-15 キヤノン株式会社 軌道生成方法および軌道生成装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002073130A (ja) * 2000-06-13 2002-03-12 Yaskawa Electric Corp ロボットの大域動作経路計画方法とその制御装置
EP3623887A1 (de) * 2018-09-12 2020-03-18 Siemens Aktiengesellschaft Zeitoptimierte bewegungsführung zwischen bahnabschnitten
JP7400644B2 (ja) * 2020-07-02 2023-12-19 株式会社デンソー 動作経路生成装置、動作経路生成方法および動作経路生成プログラム
US12214505B2 (en) * 2020-07-08 2025-02-04 Mitsubishi Electric Corporation Robot controller, robot control method, and storage medium storing robot control program

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019135076A (ja) 2018-02-05 2019-08-15 キヤノン株式会社 軌道生成方法および軌道生成装置

Also Published As

Publication number Publication date
US20250100142A1 (en) 2025-03-27
CN118632766A (zh) 2024-09-10
JPWO2023149298A1 (https=) 2023-08-10
WO2023149298A1 (ja) 2023-08-10
JP7399357B1 (ja) 2023-12-15

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R012 Request for examination validly filed
R120 Application withdrawn or ip right abandoned