JP2017087301A - 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
JP2017087301A
JP2017087301A JP2015215650A JP2015215650A JP2017087301A JP 2017087301 A JP2017087301 A JP 2017087301A JP 2015215650 A JP2015215650 A JP 2015215650A JP 2015215650 A JP2015215650 A JP 2015215650A JP 2017087301 A JP2017087301 A JP 2017087301A
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JP
Japan
Prior art keywords
arm
robot
rotation axis
inertial sensor
axial direction
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Withdrawn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
JP2015215650A
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English (en)
Japanese (ja)
Other versions
JP2017087301A5 (enExample
Inventor
正樹 元▲吉▼
Masaki Motoyoshi
正樹 元▲吉▼
涼介 今井
Ryosuke Imai
涼介 今井
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 JP2015215650A priority Critical patent/JP2017087301A/ja
Priority to CN201610889312.1A priority patent/CN106826808A/zh
Priority to US15/340,232 priority patent/US20170120444A1/en
Publication of JP2017087301A publication Critical patent/JP2017087301A/ja
Publication of JP2017087301A5 publication Critical patent/JP2017087301A5/ja
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0018—Bases fixed on ceiling, i.e. upside down 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • 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
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • 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
    • 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
    • G05B2219/39195—Control, avoid oscillation, vibration due to low rigidity

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2015215650A 2015-11-02 2015-11-02 ロボット、制御装置およびロボットシステム Withdrawn JP2017087301A (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2015215650A JP2017087301A (ja) 2015-11-02 2015-11-02 ロボット、制御装置およびロボットシステム
CN201610889312.1A CN106826808A (zh) 2015-11-02 2016-10-12 机器人、控制装置以及机器人系统
US15/340,232 US20170120444A1 (en) 2015-11-02 2016-11-01 Robot, control apparatus, and robot system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015215650A JP2017087301A (ja) 2015-11-02 2015-11-02 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
JP2017087301A true JP2017087301A (ja) 2017-05-25
JP2017087301A5 JP2017087301A5 (enExample) 2018-12-13

Family

ID=58637175

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015215650A Withdrawn JP2017087301A (ja) 2015-11-02 2015-11-02 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) US20170120444A1 (enExample)
JP (1) JP2017087301A (enExample)
CN (1) CN106826808A (enExample)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10456911B2 (en) * 2014-10-10 2019-10-29 Fuji Corporation Conveyance method and conveyance device
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
CN109333517A (zh) * 2018-12-19 2019-02-15 苏州神运机器人有限公司 一种桁架式多臂机器人及桁架式多工位连续生产装置
JP7358744B2 (ja) * 2019-02-22 2023-10-11 セイコーエプソン株式会社 ロボットシステム、制御装置、および制御方法
JP7404627B2 (ja) * 2019-03-13 2023-12-26 セイコーエプソン株式会社 ロボットシステム、制御装置、および制御方法
TWI728762B (zh) * 2020-03-27 2021-05-21 財團法人工業技術研究院 減低機械手臂振動之方法
JP2023079111A (ja) * 2021-11-26 2023-06-07 セイコーエプソン株式会社 ロボットアームおよびロボットシステム

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3331660A1 (de) * 1983-09-02 1985-03-28 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Industrie-roboter mit laserstrahl-generator
EP0136430A2 (de) * 1983-07-27 1985-04-10 Josef Göllner, jr. Industrieroboter mit zweigliedrigem Gelenkarm
JPS61152380A (ja) * 1984-12-26 1986-07-11 株式会社日立製作所 ロボツト
US20030178964A1 (en) * 2003-04-07 2003-09-25 The Boeing Company Low cost robot manipulator
US20030221504A1 (en) * 2002-02-06 2003-12-04 Dan Stoianovici Remote center of motion robotic system and method
JP2014046404A (ja) * 2012-08-31 2014-03-17 Seiko Epson Corp ロボット
JP2014046405A (ja) * 2012-08-31 2014-03-17 Seiko Epson Corp ロボット、ロボット制御装置およびロボットシステム
JP2014205199A (ja) * 2013-04-10 2014-10-30 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
JP2014205196A (ja) * 2013-04-10 2014-10-30 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
JP2014233822A (ja) * 2013-06-05 2014-12-15 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5549129B2 (ja) * 2009-07-06 2014-07-16 セイコーエプソン株式会社 位置制御方法、ロボット
JP6111562B2 (ja) * 2012-08-31 2017-04-12 セイコーエプソン株式会社 ロボット
US9149936B2 (en) * 2013-01-18 2015-10-06 Persimmon Technologies, Corp. Robot having arm with unequal link lengths

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0136430A2 (de) * 1983-07-27 1985-04-10 Josef Göllner, jr. Industrieroboter mit zweigliedrigem Gelenkarm
DE3331660A1 (de) * 1983-09-02 1985-03-28 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Industrie-roboter mit laserstrahl-generator
JPS61152380A (ja) * 1984-12-26 1986-07-11 株式会社日立製作所 ロボツト
US20030221504A1 (en) * 2002-02-06 2003-12-04 Dan Stoianovici Remote center of motion robotic system and method
US20030178964A1 (en) * 2003-04-07 2003-09-25 The Boeing Company Low cost robot manipulator
JP2014046404A (ja) * 2012-08-31 2014-03-17 Seiko Epson Corp ロボット
JP2014046405A (ja) * 2012-08-31 2014-03-17 Seiko Epson Corp ロボット、ロボット制御装置およびロボットシステム
JP2014205199A (ja) * 2013-04-10 2014-10-30 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
JP2014205196A (ja) * 2013-04-10 2014-10-30 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
JP2014233822A (ja) * 2013-06-05 2014-12-15 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム

Also Published As

Publication number Publication date
CN106826808A (zh) 2017-06-13
US20170120444A1 (en) 2017-05-04

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