JP2014018912A5 - Robot controller - Google Patents
Robot controller Download PDFInfo
- Publication number
- JP2014018912A5 JP2014018912A5 JP2012159600A JP2012159600A JP2014018912A5 JP 2014018912 A5 JP2014018912 A5 JP 2014018912A5 JP 2012159600 A JP2012159600 A JP 2012159600A JP 2012159600 A JP2012159600 A JP 2012159600A JP 2014018912 A5 JP2014018912 A5 JP 2014018912A5
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- robot
- control apparatus
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- end effector
- elbow
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- 239000012636 effector Substances 0.000 claims description 9
- 210000000707 wrist Anatomy 0.000 claims 3
- 238000006073 displacement reaction Methods 0.000 claims 2
Description
本発明は、ロボット制御装置に関する。 The present invention relates to a robot control equipment.
本発明は、前記の点に鑑みてなされたものであり、ロボットの肘からエンドエフェクターにかけての上腕部について障害物との干渉を防ぐことが可能なロボット制御装置を提供することを目的とする。 The present invention has been made in view of the above, and an object thereof is to provide a robot control equipment which can prevent interference with the obstacle on the upper arm of toward the end effector from the elbow of the robot .
Claims (10)
ことを特徴とするロボット制御装置。 The robot has a joint corresponding to a shoulder, a joint corresponding to an elbow, and a joint corresponding to a wrist, and an end effector connected to the wrist so that the end effector and the elbow avoid an obstacle. A robot control unit for controlling
A robot controller characterized by that.
ことを特徴とする請求項１に記載のロボット制御装置。 The robot control unit controls the robot based on an amount for avoiding the end effector of the robot from the obstacle and an amount for avoiding the elbow of the robot from the obstacle;
The robot control apparatus according to claim 1.
ことを特徴とする請求項１または請求項２に記載のロボット制御装置。 The robot control unit calculates the position of the end effector of the robot and an equation of motion of the robot calculated based on a repulsive force generated by a predetermined repulsive potential generated from the obstacle by moving the end effector of the robot from the obstacle. Calculated based on the equation of motion relating to the displacement of the position of the end effector, the offset angle value that determines the position of the elbow of the robot, and the torque that rotates the offset angle value that determines the position of the elbow of the robot. wherein the displacement of the offset angle value, based on the control information for controlling the robot so as to satisfy the condition of the state of the robot including, controlling the robot so as to satisfy the condition that,
The robot control apparatus according to claim 1 or 2, characterized by the above.
ことを特徴とする請求項１から請求項３のいずれか１項に記載のロボット制御装置。 The robot has at least three joints corresponding to the shoulder, one joint corresponding to the elbow, and three joints corresponding to the wrist.
The robot control apparatus according to any one of claims 1 to 3, wherein
ことを特徴とする請求項１から請求項４のいずれか１項に記載のロボット制御装置。 The robot uses a hand that grips an object as the end effector.
The robot control apparatus according to any one of claims 1 to 4, wherein the robot control apparatus is characterized in that:
前記ロボットの状態の条件を決定する１つ以上のパラメーターの値が入力される入力部と、を備え、
前記ロボット制御部は、前記入力部にて入力されたパラメーターの値を用いて決定される条件と同じ条件に対応付けられて前記記憶部に記憶された前記制御情報に基づいて、前記条件を満たすように前記ロボットを制御する、
ことを特徴とする請求項１から請求項５のいずれか１項に記載のロボット制御装置。 A storage unit that stores the condition of the state of the robot and the control information for controlling the robot so as to satisfy the condition;
An input unit for inputting values of one or more parameters for determining a condition of the state of the robot,
The robot control unit satisfies the condition based on the control information stored in the storage unit in association with the same condition as the condition determined using the parameter value input by the input unit. To control the robot,
The robot control apparatus according to any one of claims 1 to 5, wherein
ことを特徴とする請求項１から請求項６のいずれか１項に記載のロボット制御装置。 The condition of the state of the robot is a condition for designating the position and posture of the end effector and the position of the elbow in the robot.
The robot control device according to any one of claims 1 to 6, wherein
ことを特徴とする請求項３または請求項６に記載のロボット制御装置。 The control information is information for controlling each rotation axis and each rotation axis of the robot.
The robot control apparatus according to claim 3 or 6 , wherein
ことを特徴とする請求項１から請求項８のいずれか１項に記載のロボット制御装置。 The robot includes seven joints including an offset structure, and includes the offset structure between a first joint of the robot and a second joint of the robot.
The robot control apparatus according to claim 1, wherein the robot control apparatus is any one of claims 1 to 8.
ことを特徴とする請求項１から請求項８のいずれか１項に記載のロボット制御装置。 The robot includes seven joints including an offset structure, and includes the offset structure between a sixth joint of the robot and a seventh joint of the robot.
The robot control apparatus according to claim 1, wherein the robot control apparatus is any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012159600A JP2014018912A (en) | 2012-07-18 | 2012-07-18 | Robot control device, robot control method, robot control program and robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012159600A JP2014018912A (en) | 2012-07-18 | 2012-07-18 | Robot control device, robot control method, robot control program and robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2014018912A JP2014018912A (en) | 2014-02-03 |
| JP2014018912A5 true JP2014018912A5 (en) | 2015-08-27 |
Family
ID=50194384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2012159600A Withdrawn JP2014018912A (en) | 2012-07-18 | 2012-07-18 | Robot control device, robot control method, robot control program and robot system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2014018912A (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015174185A (en) * | 2014-03-14 | 2015-10-05 | 三菱重工業株式会社 | Robot simulation device and method, control device, and robot system |
| JP2015174184A (en) * | 2014-03-14 | 2015-10-05 | 三菱重工業株式会社 | Controller |
| JP6657627B2 (en) * | 2015-07-13 | 2020-03-04 | セイコーエプソン株式会社 | Robot controller, robot and robot system |
| JP6515828B2 (en) * | 2016-01-26 | 2019-05-22 | トヨタ自動車株式会社 | Interference avoidance method |
| CN107688342B (en) | 2017-03-27 | 2019-05-10 | 平安科技（深圳）有限公司 | The obstruction-avoiding control system and method for robot |
| JP7219534B2 (en) * | 2017-03-28 | 2023-02-08 | 川崎重工業株式会社 | Painting robot equipment |
| JP6818708B2 (en) | 2018-02-28 | 2021-01-20 | 株式会社東芝 | Manipulator systems, controls, control methods, and programs |
| JP2019177436A (en) * | 2018-03-30 | 2019-10-17 | 日本電産株式会社 | Robot control device, method for determining angle of joint of robot, and program |
| CN110916976B (en) * | 2019-12-06 | 2021-08-13 | 北京交通大学 | Personalized wearable rehabilitation mechanical arm device |
| CN113829378A (en) * | 2021-09-29 | 2021-12-24 | 广东博工三六五机器人信息技术有限公司 | Multi-axis experiment grabbing robot with wireless manipulator |
| CN116587289B (en) * | 2023-07-17 | 2024-03-29 | 西北工业大学太仓长三角研究院 | Seven-degree-of-freedom wrist joint bias mechanical arm inverse solution method, system and medium |
| CN117290980B (en) * | 2023-11-27 | 2024-02-02 | 江西格如灵科技股份有限公司 | Mechanical arm simulation method and system based on Unity platform |
Family Cites Families (11)
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| JPS6270913A (en) * | 1985-09-24 | 1987-04-01 | Kobe Steel Ltd | Articulated robot device |
| CA1279678C (en) * | 1986-02-18 | 1991-01-29 | James P. Karlen | Industrial robot with servo |
| JPH05345291A (en) * | 1992-06-15 | 1993-12-27 | Fanuc Ltd | Working area limitation for robot |
| JP2005014108A (en) * | 2003-06-23 | 2005-01-20 | Honda Motor Co Ltd | Interference avoiding method of multi-articulated robot |
| WO2009125648A1 (en) * | 2008-04-07 | 2009-10-15 | 株式会社安川電機 | Multi-joint robot and system |
| JP2010247309A (en) * | 2009-04-20 | 2010-11-04 | Toyota Motor Corp | Robot arm and method for controlling the same |
| KR20110041950A (en) * | 2009-10-16 | 2011-04-22 | 삼성전자주식회사 | Teaching and playback method using redundancy resolution control for manipulator |
| JP2012011498A (en) * | 2010-06-30 | 2012-01-19 | Toshiba Corp | System and method for operating robot arm |
| JP5834473B2 (en) * | 2011-04-28 | 2015-12-24 | セイコーエプソン株式会社 | robot |
| JP2012240144A (en) * | 2011-05-18 | 2012-12-10 | Yaskawa Electric Corp | Robot control device and robot system |
| JP5948932B2 (en) * | 2012-02-16 | 2016-07-06 | セイコーエプソン株式会社 | Robot control apparatus, robot control method, robot control program, and robot system |
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2012
- 2012-07-18 JP JP2012159600A patent/JP2014018912A/en not_active Withdrawn
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