JP2011245614A - 速度制御ロボット機構におけるワークスペース制限の応用 - Google Patents

速度制御ロボット機構におけるワークスペース制限の応用 Download PDF

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Publication number
JP2011245614A
JP2011245614A JP2011091128A JP2011091128A JP2011245614A JP 2011245614 A JP2011245614 A JP 2011245614A JP 2011091128 A JP2011091128 A JP 2011091128A JP 2011091128 A JP2011091128 A JP 2011091128A JP 2011245614 A JP2011245614 A JP 2011245614A
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Japan
Prior art keywords
boundary
reference point
host machine
control signal
speed control
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JP2011091128A
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English (en)
Japanese (ja)
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JP2011245614A5 (https=
Inventor
Muhammad E Abdallah
ムハマド・イー・アブダラー
Brian Hargrave
ブライアン・ハーグレイヴ
Jr Robert J Platt
ロバート・ジェイ・プラット，ジュニア
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GM Global Technology Operations LLC
National Aeronautics and Space Administration NASA
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GM Global Technology Operations LLC
National Aeronautics and Space Administration NASA
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Application filed by GM Global Technology Operations LLC, National Aeronautics and Space Administration NASA filed Critical GM Global Technology Operations LLC
Publication of JP2011245614A publication Critical patent/JP2011245614A/ja
Publication of JP2011245614A5 publication Critical patent/JP2011245614A5/ja
Pending legal-status Critical Current

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    • 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
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
JP2011091128A 2010-05-26 2011-04-15 速度制御ロボット機構におけるワークスペース制限の応用 Pending JP2011245614A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US12/787,479 2010-05-26
US12/787,479 US8676382B2 (en) 2010-05-26 2010-05-26 Applying workspace limitations in a velocity-controlled robotic mechanism

Related Child Applications (1)

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JP2013219831A Division JP5869545B2 (ja) 2010-05-26 2013-10-23 速度制御ロボット機構におけるワークスペース制限の応用

Publications (2)

Publication Number Publication Date
JP2011245614A true JP2011245614A (ja) 2011-12-08
JP2011245614A5 JP2011245614A5 (https=) 2013-02-21

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JP2011091128A Pending JP2011245614A (ja) 2010-05-26 2011-04-15 速度制御ロボット機構におけるワークスペース制限の応用
JP2013219831A Expired - Fee Related JP5869545B2 (ja) 2010-05-26 2013-10-23 速度制御ロボット機構におけるワークスペース制限の応用

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JP2013219831A Expired - Fee Related JP5869545B2 (ja) 2010-05-26 2013-10-23 速度制御ロボット機構におけるワークスペース制限の応用

Country Status (3)

Country Link
US (1) US8676382B2 (https=)
JP (2) JP2011245614A (https=)
DE (1) DE102011102314B4 (https=)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019518616A (ja) * 2016-05-19 2019-07-04 ポリテクニコ ディ ミラノ １または複数の協働ロボットの運動を制御するための方法およびデバイス
JPWO2021064809A1 (https=) * 2019-09-30 2021-04-08
JP2022172112A (ja) * 2020-08-03 2022-11-15 三菱電機株式会社 遠隔操作装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016103308A1 (ja) * 2014-12-26 2016-06-30 川崎重工業株式会社 ロボットシステム
CN121714334A (zh) * 2026-02-11 2026-03-24 骨圣元化机器人(深圳)有限公司 一种截骨控制方法、截骨设备及计算机程序产品

Citations (9)

* Cited by examiner, † Cited by third party
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JPS62134707A (ja) * 1985-12-06 1987-06-17 Nippon Kogaku Kk <Nikon> 駆動装置の速度制御装置
JPS63245507A (ja) * 1987-03-31 1988-10-12 Toshiba Corp マニピユレ−タ駆動装置
JPH01121909A (ja) * 1987-11-06 1989-05-15 Oki Electric Ind Co Ltd 直交座標型ロボットにおける動作速度制御方法
JPH09314305A (ja) * 1996-05-31 1997-12-09 Ube Ind Ltd 金型スプレイロボット
JPH1158278A (ja) * 1997-08-25 1999-03-02 Yaskawa Electric Corp ロボットの制御装置
JPH11347983A (ja) * 1998-06-11 1999-12-21 Meidensha Corp マニプレータの動作制限装置
JP2003170381A (ja) * 2001-11-30 2003-06-17 Seiko Epson Corp 操作装置
JP2005028492A (ja) * 2003-07-10 2005-02-03 Honda Motor Co Ltd 部品搬送エリア設定方法
JP2009093352A (ja) * 2007-10-05 2009-04-30 Kobe Steel Ltd ロボットシステムの制御装置、制御方法およびそのプログラム

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US4704694A (en) 1985-12-16 1987-11-03 Automation Intelligence, Inc. Learned part system
US5579444A (en) * 1987-08-28 1996-11-26 Axiom Bildverarbeitungssysteme Gmbh Adaptive vision-based controller
JP2000141273A (ja) * 1998-11-11 2000-05-23 Mitsubishi Electric Corp 産業ロボット装置
US6278908B1 (en) 1999-09-14 2001-08-21 Virginia Tech Intellectual Properties, Inc. Computationally efficient control allocation
US20050149251A1 (en) * 2000-07-18 2005-07-07 University Of Minnesota Real time high accuracy geospatial database for onboard intelligent vehicle applications
JP3790816B2 (ja) 2002-02-12 2006-06-28 国立大学法人 東京大学 人型リンク系の運動生成方法
US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
DE10351670A1 (de) 2003-11-05 2005-06-30 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern von Robotern
SE526119C2 (sv) 2003-11-24 2005-07-05 Abb Research Ltd Metod och system för programmering av en industrirobot
DE102004021468A1 (de) 2004-04-30 2005-11-24 Kuka Roboter Gmbh Verfahren zum Steuern einer Maschine, insbesondere eines Industrieroboters
JP2006123149A (ja) * 2004-11-01 2006-05-18 Sharp Corp 関節駆動機構およびロボットハンド
US7313463B2 (en) 2005-03-31 2007-12-25 Massachusetts Institute Of Technology Biomimetic motion and balance controllers for use in prosthetics, orthotics and robotics
US8283813B2 (en) * 2007-06-27 2012-10-09 Brooks Automation, Inc. Robot drive with magnetic spindle bearings
WO2009059323A1 (en) 2007-11-01 2009-05-07 Rimrock Automation, Inc. Dba Wolf Robotics A method and system for finding a tool center point for a robot using an external camera
JP5013476B2 (ja) * 2007-12-28 2012-08-29 本田技研工業株式会社 ロボットハンド装置
KR20100030879A (ko) * 2008-09-11 2010-03-19 삼성전자주식회사 로봇핸드 및 이를 갖춘 인간형 로봇

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62134707A (ja) * 1985-12-06 1987-06-17 Nippon Kogaku Kk <Nikon> 駆動装置の速度制御装置
JPS63245507A (ja) * 1987-03-31 1988-10-12 Toshiba Corp マニピユレ−タ駆動装置
JPH01121909A (ja) * 1987-11-06 1989-05-15 Oki Electric Ind Co Ltd 直交座標型ロボットにおける動作速度制御方法
JPH09314305A (ja) * 1996-05-31 1997-12-09 Ube Ind Ltd 金型スプレイロボット
JPH1158278A (ja) * 1997-08-25 1999-03-02 Yaskawa Electric Corp ロボットの制御装置
JPH11347983A (ja) * 1998-06-11 1999-12-21 Meidensha Corp マニプレータの動作制限装置
JP2003170381A (ja) * 2001-11-30 2003-06-17 Seiko Epson Corp 操作装置
JP2005028492A (ja) * 2003-07-10 2005-02-03 Honda Motor Co Ltd 部品搬送エリア設定方法
JP2009093352A (ja) * 2007-10-05 2009-04-30 Kobe Steel Ltd ロボットシステムの制御装置、制御方法およびそのプログラム

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019518616A (ja) * 2016-05-19 2019-07-04 ポリテクニコ ディ ミラノ １または複数の協働ロボットの運動を制御するための方法およびデバイス
JP7048162B2 (ja) 2016-05-19 2022-04-05 ポリテクニコ ディ ミラノ １または複数の協働ロボットの運動を制御するための方法およびデバイス
JPWO2021064809A1 (https=) * 2019-09-30 2021-04-08
WO2021064809A1 (ja) * 2019-09-30 2021-04-08 株式会社Ｆｕｊｉ ロボット制御装置およびロボットの直接教示方法
JP2022172112A (ja) * 2020-08-03 2022-11-15 三菱電機株式会社 遠隔操作装置
US12598375B2 (en) 2020-08-03 2026-04-07 Mitsubishi Electric Corporation Remote control device

Also Published As

Publication number Publication date
DE102011102314A1 (de) 2011-12-15
US8676382B2 (en) 2014-03-18
US20110295419A1 (en) 2011-12-01
JP2014054722A (ja) 2014-03-27
DE102011102314B4 (de) 2015-06-03
JP5869545B2 (ja) 2016-02-24

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