DE3874205D1 - Verfahren und system zur robotersteuerung zum zusammenstellen von produkten. - Google Patents

Verfahren und system zur robotersteuerung zum zusammenstellen von produkten.

Info

Publication number
DE3874205D1
DE3874205D1 DE8888107982T DE3874205T DE3874205D1 DE 3874205 D1 DE3874205 D1 DE 3874205D1 DE 8888107982 T DE8888107982 T DE 8888107982T DE 3874205 T DE3874205 T DE 3874205T DE 3874205 D1 DE3874205 D1 DE 3874205D1
Authority
DE
Germany
Prior art keywords
robotic control
assembling products
assembling
products
robotic
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.)
Expired - Lifetime
Application number
DE8888107982T
Other languages
English (en)
Other versions
DE3874205T2 (de
Inventor
Tetsuo C O Patent Divis Suzuki
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.)
Toshiba Corp
Original Assignee
Toshiba 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 Toshiba Corp filed Critical Toshiba Corp
Publication of DE3874205D1 publication Critical patent/DE3874205D1/de
Application granted granted Critical
Publication of DE3874205T2 publication Critical patent/DE3874205T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
DE8888107982T 1987-05-21 1988-05-18 Verfahren und system zur robotersteuerung zum zusammenstellen von produkten. Expired - Fee Related DE3874205T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62124606A JPS63288683A (ja) 1987-05-21 1987-05-21 組立てロボット

Publications (2)

Publication Number Publication Date
DE3874205D1 true DE3874205D1 (de) 1992-10-08
DE3874205T2 DE3874205T2 (de) 1993-01-14

Family

ID=14889599

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8888107982T Expired - Fee Related DE3874205T2 (de) 1987-05-21 1988-05-18 Verfahren und system zur robotersteuerung zum zusammenstellen von produkten.

Country Status (5)

Country Link
US (1) US4835450A (de)
EP (1) EP0291965B1 (de)
JP (1) JPS63288683A (de)
KR (1) KR910000873B1 (de)
DE (1) DE3874205T2 (de)

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US5757419A (en) * 1996-12-02 1998-05-26 Qureshi; Iqbal Inspection method and apparatus for tanks and the like
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JP3300682B2 (ja) * 1999-04-08 2002-07-08 ファナック株式会社 画像処理機能を持つロボット装置
JP3421608B2 (ja) * 1999-04-08 2003-06-30 ファナック株式会社 教示モデル生成装置
CA2426991C (en) * 2000-11-17 2008-04-08 Honda Giken Kogyo Kabushiki Kaisha Biped robot
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JP2003060004A (ja) * 2001-08-20 2003-02-28 Yaskawa Electric Corp ロボットハンド
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SE529377C2 (sv) * 2005-10-18 2007-07-24 Morphic Technologies Ab Publ Metod och arrangemang för att lokalisera och plocka upp föremål från en bärare
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WO2008076942A1 (en) * 2006-12-15 2008-06-26 Braintech Canada, Inc. System and method of identifying objects
US7957583B2 (en) * 2007-08-02 2011-06-07 Roboticvisiontech Llc System and method of three-dimensional pose estimation
US8559699B2 (en) * 2008-10-10 2013-10-15 Roboticvisiontech Llc Methods and apparatus to facilitate operations in image based systems
JP5071361B2 (ja) * 2008-12-09 2012-11-14 株式会社安川電機 複腕ロボットの作業プログラム作成方法および複腕ロボット
JP5509645B2 (ja) * 2009-03-25 2014-06-04 富士ゼロックス株式会社 位置・姿勢認識方法、部品把持方法、部品配置方法、部品組立方法、位置・姿勢認識装置、部品把持装置、部品配置装置、および部品組立装置
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US9361695B2 (en) * 2012-12-11 2016-06-07 Honda Motor Co., Ltd. Method of recognizing a position of a workpiece from a photographed image
US9778650B2 (en) * 2013-12-11 2017-10-03 Honda Motor Co., Ltd. Apparatus, system and method for kitting and automation assembly
JP2015226963A (ja) * 2014-06-02 2015-12-17 セイコーエプソン株式会社 ロボット、ロボットシステム、制御装置、及び制御方法
JP6459227B2 (ja) * 2014-06-02 2019-01-30 セイコーエプソン株式会社 ロボットシステム
CN104325268A (zh) * 2014-11-04 2015-02-04 南京赫曼机器人自动化有限公司 一种基于智能学习的工业机器人三维空间自主装配方法
WO2017046835A1 (ja) * 2015-09-14 2017-03-23 株式会社日立製作所 組立動作教示装置及び組立動作教示方法
EP3431229A4 (de) * 2016-03-14 2019-06-26 Omron Corporation Vorrichtung zur generierung von aktionsinformationen
JP6614075B2 (ja) 2016-09-07 2019-12-04 株式会社ダイフク 物品積載設備
JP6533200B2 (ja) 2016-09-20 2019-06-19 平田機工株式会社 部品支持装置および製造方法
JP2018167334A (ja) * 2017-03-29 2018-11-01 セイコーエプソン株式会社 教示装置および教示方法
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CN110621451B (zh) * 2017-04-04 2021-07-06 牧今科技 信息处理装置、拾取系统、物流系统、程序以及信息处理方法
JP6325174B1 (ja) 2017-04-04 2018-05-16 株式会社Ｍｕｊｉｎ 制御装置、ピッキングシステム、物流システム、プログラム、制御方法、及び、生産方法
WO2018185858A1 (ja) 2017-04-04 2018-10-11 株式会社Ｍｕｊｉｎ 制御装置、ピッキングシステム、物流システム、プログラム、制御方法、及び、生産方法
DE112017007398B4 (de) 2017-04-04 2021-11-18 Mujin, Inc. Steuervorrichtung, Greifsystem, Verteilersystem, Programm und Steuerverfahren
JP6795007B2 (ja) * 2018-04-27 2020-12-02 株式会社ダイフク ピッキング設備
CN108994601B (zh) * 2018-07-06 2020-05-08 成都姜业光电科技有限公司 一种基于图像检测的仪表组件装配精度的装配方法
JP7368135B2 (ja) * 2019-07-31 2023-10-24 ファナック株式会社 複数の可動部を有する物品搬送システム
JP2022120649A (ja) * 2021-02-05 2022-08-18 オムロン株式会社 制御システム、動作計画装置、制御装置、動作計画及び制御方法、動作計画方法、並びに制御方法
CN114310883A (zh) * 2021-12-24 2022-04-12 深圳巨隆基科技有限公司 一种基于多知识库的机械臂自主装配方法
WO2024048426A1 (ja) * 2022-08-29 2024-03-07 リンクウィズ株式会社 製造システム、制御方法及び制御プログラム

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Also Published As

Publication number Publication date
KR910000873B1 (ko) 1991-02-11
EP0291965B1 (de) 1992-09-02
US4835450A (en) 1989-05-30
EP0291965A1 (de) 1988-11-23
KR880014431A (ko) 1988-12-23
JPS63288683A (ja) 1988-11-25
DE3874205T2 (de) 1993-01-14

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee