JP2017052016A - ロボット、制御装置およびロボットシステム - Google Patents

ロボット、制御装置およびロボットシステム Download PDF

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Publication number
JP2017052016A
JP2017052016A JP2015175431A JP2015175431A JP2017052016A JP 2017052016 A JP2017052016 A JP 2017052016A JP 2015175431 A JP2015175431 A JP 2015175431A JP 2015175431 A JP2015175431 A JP 2015175431A JP 2017052016 A JP2017052016 A JP 2017052016A
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JP
Japan
Prior art keywords
arm
robot
rotation axis
speed
max
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.)
Withdrawn
Application number
JP2015175431A
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English (en)
Japanese (ja)
Other versions
JP2017052016A5 (enExample
Inventor
正樹 元▲吉▼
Masaki Motoyoshi
正樹 元▲吉▼
涼介 今井
Ryosuke Imai
涼介 今井
俊介 年光
Shunsuke Toshimitsu
俊介 年光
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seiko Epson Corp
Original Assignee
Seiko Epson Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2015175431A priority Critical patent/JP2017052016A/ja
Priority to US15/257,003 priority patent/US20170066129A1/en
Priority to CN201610808700.2A priority patent/CN106493729A/zh
Publication of JP2017052016A publication Critical patent/JP2017052016A/ja
Publication of JP2017052016A5 publication Critical patent/JP2017052016A5/ja
Withdrawn legal-status Critical Current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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • 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
    • G05B2219/40269—Naturally compliant robot arm

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
JP2015175431A 2015-09-07 2015-09-07 ロボット、制御装置およびロボットシステム Withdrawn JP2017052016A (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2015175431A JP2017052016A (ja) 2015-09-07 2015-09-07 ロボット、制御装置およびロボットシステム
US15/257,003 US20170066129A1 (en) 2015-09-07 2016-09-06 Robot, control apparatus, and robot system
CN201610808700.2A CN106493729A (zh) 2015-09-07 2016-09-07 机器人、控制装置以及机器人系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015175431A JP2017052016A (ja) 2015-09-07 2015-09-07 ロボット、制御装置およびロボットシステム

Publications (2)

Publication Number Publication Date
JP2017052016A true JP2017052016A (ja) 2017-03-16
JP2017052016A5 JP2017052016A5 (enExample) 2018-09-13

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015175431A Withdrawn JP2017052016A (ja) 2015-09-07 2015-09-07 ロボット、制御装置およびロボットシステム

Country Status (3)

Country Link
US (1) US20170066129A1 (enExample)
JP (1) JP2017052016A (enExample)
CN (1) CN106493729A (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016190298A (ja) * 2015-03-31 2016-11-10 セイコーエプソン株式会社 ロボットおよびロボットシステム
JP6528525B2 (ja) * 2015-04-27 2019-06-12 セイコーエプソン株式会社 ロボットおよびロボットシステム
JP2019051578A (ja) * 2017-09-19 2019-04-04 セイコーエプソン株式会社 ロボット、ロボットシステム、及びロボット制御装置
JP2021094602A (ja) * 2019-12-13 2021-06-24 セイコーエプソン株式会社 制御方法およびロボットシステム
CN114474066B (zh) * 2022-03-04 2024-02-20 全爱科技(上海)有限公司 一种智能人形机器人控制系统和方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61152380A (ja) * 1984-12-26 1986-07-11 株式会社日立製作所 ロボツト

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59170334A (ja) * 1983-03-15 1984-09-26 Hitachi Constr Mach Co Ltd 作業機の軌跡制御装置
JPH0430203A (ja) * 1990-05-25 1992-02-03 Fanuc Ltd ロボットの加減速時定数制御方法
US5737500A (en) * 1992-03-11 1998-04-07 California Institute Of Technology Mobile dexterous siren degree of freedom robot arm with real-time control system
JP2812920B2 (ja) * 1996-05-30 1998-10-22 川崎重工業株式会社 ロボットの動作指令作成方法
EP1472579B1 (en) * 2002-02-06 2013-05-01 The Johns Hopkins University Remote center of motion robotic system
DE102009019633B4 (de) * 2009-04-30 2011-02-24 Kuka Roboter Gmbh Bewegung eines Menschen durch einen Manipulator
JP5761238B2 (ja) * 2013-03-15 2015-08-12 株式会社安川電機 ロボットシステム及び被作業物の製造方法
EP3498432A1 (en) * 2013-03-26 2019-06-19 NTN Corporation Linking apparatus control device
JP5949741B2 (ja) * 2013-12-19 2016-07-13 株式会社安川電機 ロボットシステム及び検出方法
JP6364096B2 (ja) * 2014-12-26 2018-07-25 川崎重工業株式会社 ロボットシステム

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61152380A (ja) * 1984-12-26 1986-07-11 株式会社日立製作所 ロボツト

Also Published As

Publication number Publication date
CN106493729A (zh) 2017-03-15
US20170066129A1 (en) 2017-03-09

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