JP2011245614A5 - - Google Patents
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- JP2011245614A5 JP2011245614A5 JP2011091128A JP2011091128A JP2011245614A5 JP 2011245614 A5 JP2011245614 A5 JP 2011245614A5 JP 2011091128 A JP2011091128 A JP 2011091128A JP 2011091128 A JP2011091128 A JP 2011091128A JP 2011245614 A5 JP2011245614 A5 JP 2011245614A5
- Authority
- JP
- Japan
- Prior art keywords
- boundary
- reference point
- robot
- wrist assembly
- speed
- 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
Links
- 210000000707 wrist Anatomy 0.000 description 35
- 230000007246 mechanism Effects 0.000 description 30
- 239000013598 vector Substances 0.000 description 14
- 238000000034 method Methods 0.000 description 12
- 239000000872 buffer Substances 0.000 description 10
- 230000007704 transition Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 238000013507 mapping Methods 0.000 description 5
- 210000001503 joint Anatomy 0.000 description 4
- 210000003857 wrist joint Anatomy 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 210000003811 finger Anatomy 0.000 description 2
- 238000009499 grossing Methods 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000001914 calming effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 244000145845 chattering Species 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
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)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 JP2011245614A (ja) | 2011-12-08 |
| JP2011245614A5 true JP2011245614A5 (https=) | 2013-02-21 |
Family
ID=45020235
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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=) |
Families Citing this family (5)
| 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 |
| ITUA20163608A1 (it) * | 2016-05-19 | 2017-11-19 | Milano Politecnico | Procedimento e dispositivo per il controllo della movimentazione di uno o più robot collaborativi |
| 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 |
| WO2022030047A1 (ja) | 2020-08-03 | 2022-02-10 | 三菱電機株式会社 | 遠隔操作装置 |
| 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 |
Family Cites Families (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6130112U (ja) * | 1984-07-27 | 1986-02-22 | 株式会社日立製作所 | 産業用ロボツトの制御方式 |
| JP2569436B2 (ja) | 1985-12-06 | 1997-01-08 | 株式会社ニコン | 駆動装置の速度制御装置 |
| US4704694A (en) | 1985-12-16 | 1987-11-03 | Automation Intelligence, Inc. | Learned part system |
| JPS63245507A (ja) | 1987-03-31 | 1988-10-12 | Toshiba Corp | マニピユレ−タ駆動装置 |
| US5579444A (en) * | 1987-08-28 | 1996-11-26 | Axiom Bildverarbeitungssysteme Gmbh | Adaptive vision-based controller |
| JPH0812562B2 (ja) | 1987-11-06 | 1996-02-07 | 沖電気工業株式会社 | 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 |
| 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 |
| JP2003170381A (ja) | 2001-11-30 | 2003-06-17 | Seiko Epson Corp | 操作装置 |
| 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 |
| JP4274865B2 (ja) | 2003-07-10 | 2009-06-10 | 本田技研工業株式会社 | アシストエリアの設定方法 |
| 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 |
| JP4668251B2 (ja) | 2007-10-05 | 2011-04-13 | 株式会社神戸製鋼所 | 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 |
| 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 |
-
2010
- 2010-05-26 US US12/787,479 patent/US8676382B2/en active Active
-
2011
- 2011-04-15 JP JP2011091128A patent/JP2011245614A/ja active Pending
- 2011-05-23 DE DE102011102314.7A patent/DE102011102314B4/de active Active
-
2013
- 2013-10-23 JP JP2013219831A patent/JP5869545B2/ja not_active Expired - Fee Related
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