JP2012125890A5 - Robot arm, robot arm control method, and robot - Google Patents
Robot arm, robot arm control method, and robot Download PDFInfo
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- JP2012125890A5 JP2012125890A5 JP2010280191A JP2010280191A JP2012125890A5 JP 2012125890 A5 JP2012125890 A5 JP 2012125890A5 JP 2010280191 A JP2010280191 A JP 2010280191A JP 2010280191 A JP2010280191 A JP 2010280191A JP 2012125890 A5 JP2012125890 A5 JP 2012125890A5
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［適用例３］上記適用例に記載のロボットアームの制御方法は、前記ハンド部で第２の物体を把持しつつ、前記関節または前記連結部を作用点として、第１の物体を移動することが好ましい。 Application Example 3 In the robot arm control method according to the application example described above, the first object is moved using the joint or the connecting portion as an action point while holding the second object with the hand portion. Is preferred.
本適用例によれば、ハンド部で第２の物体を把持しつつ、関節または連結部を作用点として、第２の物体を移動する。これにより、第２の物体の移動を中断することなく、第１の物体を移動させることができる。ハンド部で第２の物体を把持しているときに、第１の物体を移動させる必要があることがある。このとき、ハンド部にて第１の物体を移動する方法がある。まず、把持していた第２の物体をハンド部から解放する。次に、ハンド部が第１の物体のある場所へ移動し第１の物体を把持する。続いてハンド部が第１の物体を移動し、第１の物体を解放する。次に、ハンド部が第２の物体のある場所へ移動し第２の物体を把持する。
According to this application example, the second object is moved using the joint or the connection portion as an action point while holding the second object with the hand portion. Thereby, the first object can be moved without interrupting the movement of the second object. When holding the second object with the hand unit, it may be necessary to move the first object. At this time, there is a method of moving the first object by the hand unit. First, the gripped second object is released from the hand unit. Next, the hand section gripping the first object moves to the location of the first object. Then the hand portion is moved to the first object, releasing the first object. Next, the hand section gripping the second object moves to the location of the second object.
Claims (17)
前記関節または前記連結部によって第１の物体を移動することを特徴とするロボットアームの制御方法。 A control method of a robot arm having a joint that rotates the consolidated portion,
Controlling method for a robot arm, wherein the benzalkonium move the first object by the joint or the connection portion.
前記関節または前記連結部によって前記第1の物体を移動することを特徴とする、請求項１に記載のロボットアームの制御方法。 The robot arm control method according to claim 1, wherein the first object is moved by the joint or the connecting portion.
前記動作シミュレーションは複数の前記関節を移動する前記実行時間を算出し、各前記タスクにおいて前記関節を移動する前記実行時間のうち最も長く時間のかかる前記実行時間を比較して、いずれのタスクを実行するかを決定することを特徴とする、請求項６に記載のロボットアームの制御方法。 The robot arm has a plurality of joints,
The operation simulation calculates the execution time for moving a plurality of the joints, compares the execution time that takes the longest time among the execution times for moving the joint in each task, and executes any task. The method for controlling a robot arm according to claim 6 , wherein whether or not to perform the determination is determined.
前記連結部を回動する関節と、を備え、 A joint that rotates the connecting portion,
前記連結部または前記関節によって物体を移動することを特徴とする、ロボットアーム。 A robot arm, wherein an object is moved by the connecting portion or the joint.
前記連結部または前記関節によって前記物体を移動することを特徴とする、請求項８に記載のロボットアーム。 The robot arm according to claim 8, wherein the object is moved by the connecting portion or the joint.
前記接触部に前記物体を接触させることにより、前記物体を移動することを特徴とする、請求項８又は請求項９に記載のロボットアーム。 The robot arm according to claim 8 or 9, wherein the object is moved by bringing the object into contact with the contact portion.
前記連結部を回動する関節と、を備え、 A joint that rotates the connecting portion,
前記連結部または前記関節によって物体を移動することを特徴とする、ロボット。 The robot moves an object by the connecting part or the joint.
前記連結部または前記関節によって前記物体を移動することを特徴とする、請求項１３に記載のロボット。 The robot according to claim 13, wherein the object is moved by the connecting portion or the joint.
前記接触部に前記物体を接触させることにより、前記物体を移動することを特徴とする、請求項１３又は請求項１４に記載のロボット。 The robot according to claim 13 or 14, wherein the object is moved by bringing the object into contact with the contact portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010280191A JP5873629B2 (en) | 2010-12-16 | 2010-12-16 | Robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010280191A JP5873629B2 (en) | 2010-12-16 | 2010-12-16 | Robot arm |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2012125890A JP2012125890A (en) | 2012-07-05 |
| JP2012125890A5 true JP2012125890A5 (en) | 2014-01-30 |
| JP5873629B2 JP5873629B2 (en) | 2016-03-01 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2010280191A Active JP5873629B2 (en) | 2010-12-16 | 2010-12-16 | Robot arm |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP5873629B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021039995A1 (en) | 2019-08-28 | 2021-03-04 | 株式会社ＤａｉｌｙＣｏｌｏｒ | Robot control device |
| JP6742040B1 (en) * | 2019-08-28 | 2020-08-19 | 株式会社ＤａｉｌｙＣｏｌｏｒ | Robot controller |
| JP7211682B2 (en) * | 2020-05-26 | 2023-01-27 | 將洋 鈴木 | Self-propelled vacuum cleaner, program for self-propelled vacuum cleaner and cleaning system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2849761B2 (en) * | 1989-12-31 | 1999-01-27 | 竹内 康人 | Manual drawing assist device |
| JPH06143170A (en) * | 1992-10-29 | 1994-05-24 | Sanyo Electric Co Ltd | Auto-nomic conveying device |
| US5992698A (en) * | 1995-08-07 | 1999-11-30 | Ecolab Inc. | Liquid soap dispenser |
| JP3073438B2 (en) * | 1996-01-26 | 2000-08-07 | ヒント金属株式会社 | Opening door handle |
| JP2001227014A (en) * | 2000-02-18 | 2001-08-24 | Sekisui Chem Co Ltd | Facility equipment |
| JP2003135568A (en) * | 2001-11-05 | 2003-05-13 | Nichion:Kk | Medical instrument washing and disinfecting device |
| JP3577050B2 (en) * | 2002-03-08 | 2004-10-13 | 株式会社田窪工業所 | Lock structure |
| JP4120370B2 (en) * | 2002-11-26 | 2008-07-16 | ソニー株式会社 | A pedestrian design method for legged mobile robots. |
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