JP2013504447A - 衝突回避スキームを実行するロボット装置及びそれに関連する方法 - Google Patents

衝突回避スキームを実行するロボット装置及びそれに関連する方法 Download PDF

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JP2013504447A
JP2013504447A JP2012529907A JP2012529907A JP2013504447A JP 2013504447 A JP2013504447 A JP 2013504447A JP 2012529907 A JP2012529907 A JP 2012529907A JP 2012529907 A JP2012529907 A JP 2012529907A JP 2013504447 A JP2013504447 A JP 2013504447A
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robot manipulator
robot
controller
manipulator
collision
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Japanese (ja)
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JP2013504447A5 (https=
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マイケル ボスチェアー，ポール
ライアン ヘッドマン，ダニエル
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Harris Corp
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Harris Corp
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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
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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
    • G05B2219/39082—Collision, real time collision avoidance
    • 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
    • G05B2219/39085—Use of two dimensional maps and feedback of external and joint sensors
    • 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
    • G05B2219/39091—Avoid collision with moving obstacles
    • 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
    • G05B2219/40492—Model manipulator by spheres for collision avoidance
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
JP2012529907A 2009-09-15 2010-09-16 衝突回避スキームを実行するロボット装置及びそれに関連する方法 Pending JP2013504447A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US12/559,698 US8386080B2 (en) 2009-09-15 2009-09-15 Robotic apparatus implementing collision avoidance scheme and associated methods
PCT/US2010/049187 WO2011035069A2 (en) 2009-09-15 2010-09-16 Robotic apparatus implementing collision avoidance scheme and associated methods

Publications (2)

Publication Number Publication Date
JP2013504447A true JP2013504447A (ja) 2013-02-07
JP2013504447A5 JP2013504447A5 (https=) 2013-05-30

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JP2012529907A Pending JP2013504447A (ja) 2009-09-15 2010-09-16 衝突回避スキームを実行するロボット装置及びそれに関連する方法

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Country Link
US (2) US8386080B2 (https=)
EP (2) EP2561964B1 (https=)
JP (1) JP2013504447A (https=)
KR (1) KR20120082881A (https=)
CN (1) CN102523737A (https=)
CA (1) CA2773712A1 (https=)
WO (1) WO2011035069A2 (https=)

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JP2015160253A (ja) * 2014-02-26 2015-09-07 キヤノン株式会社 軌道生成方法、ロボット装置、プログラム及び記録媒体
KR20160043065A (ko) * 2013-08-16 2016-04-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 이종 장치 간 모션 조율 시스템 및 방법
JP2016150419A (ja) * 2015-02-18 2016-08-22 トヨタ自動車株式会社 ロボット制御装置、制御方法、及び制御プログラム
JP2022516051A (ja) * 2018-12-21 2022-02-24 フランカ エーミカ ゲーエムベーハー ロボットマニピュレータの動作監視
KR20220025887A (ko) * 2020-05-22 2022-03-03 메치-민드 로보틱스 테크놀로지스 엘티디. 로봇 운동 계획 방법, 경로 계획 방법, 그립핑 방법 및 그 장치
JP2023167644A (ja) * 2022-05-12 2023-11-24 国立大学法人 岡山大学 ロボット制御システム、ロボット制御方法、およびコンピュータプログラム
JP2024063579A (ja) * 2022-10-26 2024-05-13 株式会社日立製作所 製造設備の設計支援装置並びに設計支援方法
JP7852879B2 (ja) 2022-05-12 2026-04-28 国立大学法人 岡山大学 ロボット制御システム、ロボット制御方法、およびコンピュータプログラム

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