JP2010536600A - ロボットアームと制御システム - Google Patents

ロボットアームと制御システム Download PDF

Info

Publication number
JP2010536600A
JP2010536600A JP2010522891A JP2010522891A JP2010536600A JP 2010536600 A JP2010536600 A JP 2010536600A JP 2010522891 A JP2010522891 A JP 2010522891A JP 2010522891 A JP2010522891 A JP 2010522891A JP 2010536600 A JP2010536600 A JP 2010536600A
Authority
JP
Japan
Prior art keywords
detection device
arm
base points
active
robot arm
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
JP2010522891A
Other languages
English (en)
Japanese (ja)
Other versions
JP2010536600A5 (enExample
Inventor
エル．ケイ ロバート
Original Assignee
エリート エンジニアリング コーポレイション
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 エリート エンジニアリング コーポレイション filed Critical エリート エンジニアリング コーポレイション
Publication of JP2010536600A publication Critical patent/JP2010536600A/ja
Publication of JP2010536600A5 publication Critical patent/JP2010536600A5/ja
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37571—Camera detecting reflected light from laser
    • 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
    • G05B2219/39008—Fixed camera detects reference pattern held by end effector
    • 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
    • G05B2219/40623—Track position of end effector by laser beam

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
JP2010522891A 2007-08-24 2008-03-28 ロボットアームと制御システム Pending JP2010536600A (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US96613707P 2007-08-24 2007-08-24
US11/985,176 US8082064B2 (en) 2007-08-24 2007-11-13 Robotic arm and control system
PCT/US2008/004145 WO2009029127A2 (en) 2007-08-24 2008-03-28 Robotic arm and control system

Publications (2)

Publication Number Publication Date
JP2010536600A true JP2010536600A (ja) 2010-12-02
JP2010536600A5 JP2010536600A5 (enExample) 2011-05-12

Family

ID=40382930

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2010522891A Pending JP2010536600A (ja) 2007-08-24 2008-03-28 ロボットアームと制御システム

Country Status (5)

Country Link
US (1) US8082064B2 (enExample)
EP (1) EP2180980A2 (enExample)
JP (1) JP2010536600A (enExample)
CA (1) CA2697473A1 (enExample)
WO (1) WO2009029127A2 (enExample)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010172992A (ja) * 2009-01-28 2010-08-12 Toyota Motor Corp ロボット制御装置及び方法
JP2022120667A (ja) * 2021-02-05 2022-08-18 株式会社アマダ 装置判別システム、装置判別方法及び装置判別プログラム
JP2024507145A (ja) * 2021-02-11 2024-02-16 シーメンス・ヘルスケア・ダイアグノスティックス・インコーポレイテッド ロボットアームを試料チューブキャリアと位置合わせする装置および方法

Families Citing this family (56)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101223056B1 (ko) 2007-04-26 2013-01-17 어뎁트 테크놀로지, 인코포레이티드 진공 그립핑 장치
US20090192644A1 (en) * 2008-01-30 2009-07-30 Meyer Thomas J Method and system for manufacturing an article using portable hand-held tools
EP2255930A1 (de) * 2009-05-27 2010-12-01 Leica Geosystems AG Verfahren und System zum hochpräzisen Positionieren mindestens eines Objekts in eine Endlage im Raum
EP2269783A1 (de) * 2009-06-30 2011-01-05 Leica Geosystems AG Kalibrierungsverfahren für ein Messsystem
DE102009032584B4 (de) 2009-07-10 2011-06-01 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum Ausrichten der Heliostate eines Heliostatfeldes
CN101913149B (zh) * 2010-07-23 2012-04-04 山东电力研究院 嵌入式轻型机械臂控制器及其控制方法
NO332877B1 (no) * 2010-12-02 2013-01-28 Norsk Hydro As Fremgangsmate og system for handtering av gjenstander
JP2012223839A (ja) * 2011-04-15 2012-11-15 Yaskawa Electric Corp ロボットシステムおよびロボットシステムの駆動方法
CN102324206B (zh) * 2011-05-20 2014-05-28 广州数控设备有限公司 一种具备总线通信的机器人示教盒及其控制方法
WO2012167110A2 (en) * 2011-06-02 2012-12-06 Honda Motor Co., Ltd. Target recognition and localization methods using a laser sensor for wheeled mobile robots
US20170003113A1 (en) * 2011-12-06 2017-01-05 Hexagon Technology Center Gmbh Coordinate measuring machine having a camera
CN103988049B (zh) * 2011-12-06 2016-11-09 赫克斯冈技术中心 具有摄像头的坐标测量机
WO2013109978A1 (en) 2012-01-20 2013-07-25 University Of Washington Through Its Center For Commercialization Dental demineralization detection, methods and systems
FR2986731B1 (fr) * 2012-02-10 2015-02-27 Sileane Installation et procede pour l'accrochage automatique de pieces sur des supports complexes
CN102615646B (zh) * 2012-04-01 2014-07-09 山东鲁能智能技术有限公司 主从式液压机械臂控制器
DE102012207415A1 (de) * 2012-05-04 2013-11-07 SPERING micro-systems Verfahren zur Visualisierung der Position eines Fahrzeugs zur Befahrung eines Kanals
CN102717381B (zh) * 2012-06-06 2015-08-12 北京理工大学 仿人机器人身体姿态角度误差的补偿方法和装置
US9008757B2 (en) 2012-09-26 2015-04-14 Stryker Corporation Navigation system including optical and non-optical sensors
DE202013101050U1 (de) 2013-03-11 2014-08-05 Deutsches Zentrum für Luft- und Raumfahrt e.V. Führungssystem für eine Roboteranordnung
JP2014176922A (ja) * 2013-03-14 2014-09-25 Yaskawa Electric Corp ロボットシステムおよび被加工物の製造方法
CN103271784B (zh) * 2013-06-06 2015-06-10 山东科技大学 基于双目视觉的人机交互式机械手控制系统和控制方法
US10203683B2 (en) 2013-07-16 2019-02-12 Seagate Technology Llc Coordinating end effector and vision controls
US9669432B2 (en) * 2013-08-27 2017-06-06 Te Connectivity Corporation Component feeding system
US10080484B2 (en) 2014-01-31 2018-09-25 University Of Washington Multispectral wide-field endoscopic imaging of fluorescence
US10441366B2 (en) 2014-10-22 2019-10-15 Think Surgical, Inc. Actively controlled optical tracker with a robot
US10507063B2 (en) * 2014-11-21 2019-12-17 Think Surgical, Inc. Visible light communication system for transmitting data between visual tracking systems and tracking markers
WO2016082018A1 (en) * 2014-11-25 2016-06-02 Synaptive Medical (Barbados) Inc. Sensor based tracking tool for medical components
DE102015201689A1 (de) * 2015-01-30 2016-08-04 Mahle International Gmbh Vorrichtung zum Laserstrukturieren von Naben von Ventiltriebbauteilen
JP6748088B2 (ja) 2015-02-25 2020-08-26 マコ サージカル コーポレーション 外科手術中の追跡中断を低減するナビゲーションシステム及び方法
WO2016172718A1 (en) * 2015-04-24 2016-10-27 Abb Technology Ltd. System and method of remote teleoperation using a reconstructed 3d scene
WO2016183339A1 (en) 2015-05-12 2016-11-17 Hexagon Metrology, Inc. Apparatus and method of controlling a coordinate measuring machine using environmental information or coordinate measuring machine information
DE102015209896B3 (de) * 2015-05-29 2016-08-18 Kuka Roboter Gmbh Ermittlung der Roboterachswinkel und Auswahl eines Roboters mit Hilfe einer Kamera
US10203192B2 (en) 2015-05-29 2019-02-12 Hexagon Metrology, Inc. CMM with object location logic
JP6741414B2 (ja) * 2015-11-27 2020-08-19 川崎重工業株式会社 部品実装ロボットシステム
CN108698241B (zh) * 2016-02-19 2021-07-30 皇家飞利浦有限公司 用于处理身体的部分的系统和方法
US10078908B2 (en) 2016-08-12 2018-09-18 Elite Robotics Determination of relative positions
WO2018035263A1 (en) * 2016-08-17 2018-02-22 Dishcraft Robotics, Inc. Fixture manipulation systems and methods
US11883132B2 (en) 2016-10-28 2024-01-30 University Of Washington System and method for ranking bacterial activity leading to tooth and gum disease
EP3345723A1 (de) * 2017-01-10 2018-07-11 Ivoclar Vivadent AG Verfahren zur steuerung einer werkzeugmaschine
US11839441B2 (en) 2017-05-25 2023-12-12 Covidien Lp Robotic surgical system with automated guidance
CN109866220B (zh) 2017-12-05 2021-07-23 财团法人工业技术研究院 机械手臂的校正装置及其校正方法
WO2019139815A1 (en) 2018-01-12 2019-07-18 Duke University Apparatus, method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects
TWI822729B (zh) 2018-02-06 2023-11-21 美商即時機器人股份有限公司 用於儲存一離散環境於一或多個處理器之一機器人之運動規劃及其改良操作之方法及設備
ES2928250T3 (es) * 2018-03-21 2022-11-16 Realtime Robotics Inc Planificación del movimiento de un robot para diversos entornos y tareas y mejora del funcionamiento del mismo
US11040452B2 (en) * 2018-05-29 2021-06-22 Abb Schweiz Ag Depth sensing robotic hand-eye camera using structured light
EP3820656A4 (en) 2018-08-23 2021-08-25 Realtime Robotics, Inc. COLLISION DETECTION FOR MOTION PLANNING OF ROBOTS
CN113227927A (zh) 2018-12-04 2021-08-06 杜克大学 在具有动态对象环境中促进运动规划的设备、方法和物体
CN113905855B (zh) 2019-04-17 2023-08-25 实时机器人有限公司 运动规划图生成用户界面、系统、方法和规则
TWI873149B (zh) 2019-06-24 2025-02-21 美商即時機器人股份有限公司 用於多個機械手臂於共用工作空間中之移動規劃系統及方法
CN110587602B (zh) * 2019-08-26 2024-05-14 青岛森科特智能仪器有限公司 一种基于三维视觉的鱼缸清洗机器人运动控制装置及控制方法
CN110877269A (zh) * 2019-11-04 2020-03-13 天津中车风电叶片工程有限公司 一种复合材料构件打磨设备及打磨方法
CA3170703A1 (en) 2020-02-06 2021-08-12 Berkshire Grey Operating Company, Inc. Systems and methods for camera calibration with a fiducial of unknown position on an articulated arm of a programmable motion device
CN115297999A (zh) 2020-03-18 2022-11-04 实时机器人有限公司 在机器人的运动规划中有用的机器人操作环境的数字表示
TWI854340B (zh) * 2021-11-01 2024-09-01 美商靈巧公司 機器人系統、用以控制機器人系統之方法、及用以控制機器人系統之電腦程式產品
TWI859620B (zh) 2021-11-01 2024-10-21 美商靈巧公司 控制多個機器人協同執行任務的機器人系統、用以控制機器人系統之方法、及電腦程式產品
TWI855413B (zh) * 2021-11-01 2024-09-11 美商靈巧公司 機器人系統、用以控制機器人系統之方法、及用以控制機器人系統之電腦程式產品

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58217285A (ja) * 1982-02-16 1983-12-17 デイフラクト　リミテツド 加工対象物の自動組立方法及びその装置
JPS6257884A (ja) * 1985-09-09 1987-03-13 株式会社東芝 マニピユレ−タ装置
US4853771A (en) * 1986-07-09 1989-08-01 The United States Of America As Represented By The Secretary Of The Navy Robotic vision system
JPH02302604A (ja) * 1989-05-17 1990-12-14 Toyota Central Res & Dev Lab Inc 三次元座標計測装置
JPH09225884A (ja) * 1996-02-14 1997-09-02 Sumitomo Electric Ind Ltd 配電工事用マニピュレータの電線位置測定方法
JPH09323280A (ja) * 1996-06-04 1997-12-16 Nippon Telegr & Teleph Corp <Ntt> マニピュレータの制御方法及びシステム
JP2004196548A (ja) * 2002-10-25 2004-07-15 Fanuc Ltd 物品搬送システム及び搬送方法
JP2005056300A (ja) * 2003-08-07 2005-03-03 Yaskawa Electric Corp 視覚フィードバック装置及び方法
WO2006114216A1 (en) * 2005-04-25 2006-11-02 Metris N.V. Method and device for scanning an object using robot manipulated non-contact scannering means and separate position and orientation detection means

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4146924A (en) * 1975-09-22 1979-03-27 Board Of Regents For Education Of The State Of Rhode Island System for visually determining position in space and/or orientation in space and apparatus employing same
US4636137A (en) * 1980-10-24 1987-01-13 Lemelson Jerome H Tool and material manipulation apparatus and method
US5506682A (en) * 1982-02-16 1996-04-09 Sensor Adaptive Machines Inc. Robot vision using targets
US4613942A (en) * 1982-02-19 1986-09-23 Chen Richard M Orientation and control system for robots
JPS58177295A (ja) * 1982-04-07 1983-10-17 株式会社日立製作所 ロボット制御装置
US4611292A (en) * 1982-10-06 1986-09-09 Hitachi, Ltd. Robot vision system
US5219264A (en) * 1986-09-19 1993-06-15 Texas Instruments Incorporated Mobile robot on-board vision system
US5579444A (en) * 1987-08-28 1996-11-26 Axiom Bildverarbeitungssysteme Gmbh Adaptive vision-based controller
JP2514490B2 (ja) * 1991-07-05 1996-07-10 株式会社ダイヘン 産業用ロボットの連動手動操作による教示制御方法
US5321353A (en) * 1992-05-13 1994-06-14 Storage Technolgy Corporation System and method for precisely positioning a robotic tool
US5331413A (en) * 1992-09-28 1994-07-19 The United States Of America As Represented By The United States National Aeronautics And Space Administration Adjustable control station with movable monitors and cameras for viewing systems in robotics and teleoperations
JP3079186B2 (ja) * 1995-09-28 2000-08-21 株式会社小松製作所 構造物計測システム
US5802201A (en) * 1996-02-09 1998-09-01 The Trustees Of Columbia University In The City Of New York Robot system with vision apparatus and transparent grippers
US6194860B1 (en) * 1999-11-01 2001-02-27 Yoder Software, Inc. Mobile camera-space manipulation
DE10001284A1 (de) * 2000-01-14 2001-08-02 Bosch Gmbh Robert Verfahren zur Aussetzererkennung bei einem mehrzylindrigen Verbrennungsmotor
US6681151B1 (en) * 2000-12-15 2004-01-20 Cognex Technology And Investment Corporation System and method for servoing robots based upon workpieces with fiducial marks using machine vision
US6442451B1 (en) * 2000-12-28 2002-08-27 Robotic Workspace Technologies, Inc. Versatile robot control system
CA2369845A1 (en) 2002-01-31 2003-07-31 Braintech, Inc. Method and apparatus for single camera 3d vision guided robotics
JP3846410B2 (ja) * 2002-11-21 2006-11-15 ソニー株式会社 画像処理装置および方法、記録媒体、並びにプログラム
US7220385B2 (en) * 2003-07-18 2007-05-22 Bio-Rad Laboratories, Inc. System and method for multi-analyte detection
US7967813B2 (en) * 2006-06-13 2011-06-28 Intuitive Surgical Operations, Inc. Surgical instrument control and actuation

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58217285A (ja) * 1982-02-16 1983-12-17 デイフラクト　リミテツド 加工対象物の自動組立方法及びその装置
JPS6257884A (ja) * 1985-09-09 1987-03-13 株式会社東芝 マニピユレ−タ装置
US4853771A (en) * 1986-07-09 1989-08-01 The United States Of America As Represented By The Secretary Of The Navy Robotic vision system
JPH02302604A (ja) * 1989-05-17 1990-12-14 Toyota Central Res & Dev Lab Inc 三次元座標計測装置
JPH09225884A (ja) * 1996-02-14 1997-09-02 Sumitomo Electric Ind Ltd 配電工事用マニピュレータの電線位置測定方法
JPH09323280A (ja) * 1996-06-04 1997-12-16 Nippon Telegr & Teleph Corp <Ntt> マニピュレータの制御方法及びシステム
JP2004196548A (ja) * 2002-10-25 2004-07-15 Fanuc Ltd 物品搬送システム及び搬送方法
JP2005056300A (ja) * 2003-08-07 2005-03-03 Yaskawa Electric Corp 視覚フィードバック装置及び方法
WO2006114216A1 (en) * 2005-04-25 2006-11-02 Metris N.V. Method and device for scanning an object using robot manipulated non-contact scannering means and separate position and orientation detection means

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010172992A (ja) * 2009-01-28 2010-08-12 Toyota Motor Corp ロボット制御装置及び方法
JP2022120667A (ja) * 2021-02-05 2022-08-18 株式会社アマダ 装置判別システム、装置判別方法及び装置判別プログラム
JP7705251B2 (ja) 2021-02-05 2025-07-09 株式会社アマダ 装置判別システム、装置判別方法及び装置判別プログラム
JP2024507145A (ja) * 2021-02-11 2024-02-16 シーメンス・ヘルスケア・ダイアグノスティックス・インコーポレイテッド ロボットアームを試料チューブキャリアと位置合わせする装置および方法
JP7730914B2 (ja) 2021-02-11 2025-08-28 シーメンス・ヘルスケア・ダイアグノスティックス・インコーポレイテッド ロボットアームを試料チューブキャリアと位置合わせする装置および方法

Also Published As

Publication number Publication date
US20090055024A1 (en) 2009-02-26
CA2697473A1 (en) 2009-03-05
WO2009029127A2 (en) 2009-03-05
EP2180980A2 (en) 2010-05-05
US8082064B2 (en) 2011-12-20
WO2009029127A3 (en) 2009-06-04

Similar Documents

Publication Publication Date Title
JP2010536600A (ja) ロボットアームと制御システム
US10839261B2 (en) Information processing apparatus, information processing method, and storage medium
US10754307B2 (en) Teaching device and control information generation method
US10894324B2 (en) Information processing apparatus, measuring apparatus, system, interference determination method, and article manufacturing method
US10417754B2 (en) Inspection system
US10107618B2 (en) Coordinate measuring machine
US7203573B2 (en) Workpiece taking-out apparatus
JP2010536600A5 (enExample)
US11312029B2 (en) Three-dimensional measuring apparatus, robot, and robot system
US12275134B2 (en) Robot system
JP6649316B2 (ja) 移載方法および移載システム
US20140076956A1 (en) Soldering machine and method of soldering
JP2013063474A (ja) ロボットシステム及び撮像方法
JP7535400B2 (ja) 画像処理装置
JP2010188439A (ja) パラメータ算出方法及びパラメータ算出装置
EP4238718A1 (en) Soldering device, soldering system, and processing device
JP6714393B2 (ja) 計測装置、システム、計測方法、および物品の製造方法
CN104516362A (zh) 用于控制视觉引导机器人组件的系统和方法
CN112437908B (zh) 使用结构光的深度感测机器手-眼相机
US20230386066A1 (en) Image processing device and machine tool
JP2014149182A (ja) ワークとの相関位置決め方法
US11090812B2 (en) Inspection apparatus for optically inspecting an object, production facility equipped with the inspection apparatus, and method for optically inspecting the object using the inspection apparatus
US10288638B2 (en) Non-contact systems and methods to locate sharp tips
CN118254483B (zh) 激光打印控制方法及系统
CN117795290A (zh) 位置测定装置以及位置测定方法

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20110328

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20110328

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20120814

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20120907

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20121207

A602 Written permission of extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A602

Effective date: 20121214

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20130107

A602 Written permission of extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A602

Effective date: 20130115

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20130207

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20130307

A602 Written permission of extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A602

Effective date: 20130215

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20130906