JP2019514706A - ロボットマニピュレータを用いて対象物を対象物受け取り領域に挿入する方法 - Google Patents
ロボットマニピュレータを用いて対象物を対象物受け取り領域に挿入する方法 Download PDFInfo
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- JP2019514706A JP2019514706A JP2018555621A JP2018555621A JP2019514706A JP 2019514706 A JP2019514706 A JP 2019514706A JP 2018555621 A JP2018555621 A JP 2018555621A JP 2018555621 A JP2018555621 A JP 2018555621A JP 2019514706 A JP2019514706 A JP 2019514706A
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Classifications
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip 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
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
-
- 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
- G05B2219/40032—Peg and hole insertion, mating and joining, remote center compliance
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- 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]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
Description
102;第2のステップ
103;第3のステップ
104;第4のステップ
Claims (11)
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- 前記解放(103)は、力が調整されたおよび/またはインピーダンスが調整された回転/傾斜運動が連続的に行われることによって起こる、請求項1に記載の方法。
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- 前記エフェクタによる前記対象物の前記受け取り/把持の間にエラーが生じた場合、前記エフェクタによる前記対象物の前記受け取り/把持が、前記対象物の受け取り/把持についての異なるパラメータで、繰り返される、請求項1〜4のいずれか一項に記載の方法。
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- データ処理装置を有するコンピュータシステムであって、
前記データ処理装置は、当該データ処理装置において先行する請求項1〜6のいずれか一項に記載の方法が実行されるよう設計される、コンピュータシステム。 - 電子的に読み取り可能な制御信号を含むデジタル記憶媒体であって、
前記制御信号は、先行する請求項1〜6のいずれか一項に記載の方法が実行されるようなやり方で、プログラム可能なコンピュータシステムと相互作用することが可能である、デジタル記憶媒体。 - 機械読み取り可能な媒体に保存され、先行する請求項1〜6のいずれか一項に記載の方法を実行するプログラムコードを含むコンピュータプログラムプロダクトであって、
前記プログラムコードがデータ処理装置で実行されると、先行する請求項1〜6のいずれか一項に記載の方法が実行される、コンピュータプログラムプロダクト。 - データ処理装置で実行されると先行する請求項1〜6のいずれか一項に記載の方法を実行するプログラムコードを含む、コンピュータプログラム。
-
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016004942.1 | 2016-04-24 | ||
DE102016004942 | 2016-04-24 | ||
DE102016107842.5 | 2016-04-27 | ||
DE102016107842.5A DE102016107842C5 (de) | 2016-04-27 | 2016-04-27 | Verfahren zum Einfügen eines Gegenstandes in eine Gegenstandsaufnahme mittels eines Robotermanipulators |
PCT/EP2017/059650 WO2017186637A1 (de) | 2016-04-24 | 2017-04-24 | Verfahren zum fügen eines gegenstandes in eine gegenstandsaufnahme mittels eines robotermanipulators |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2019514706A true JP2019514706A (ja) | 2019-06-06 |
Family
ID=58671596
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018555621A Pending JP2019514706A (ja) | 2016-04-24 | 2017-04-24 | ロボットマニピュレータを用いて対象物を対象物受け取り領域に挿入する方法 |
Country Status (7)
Country | Link |
---|---|
US (1) | US11203119B2 (ja) |
EP (1) | EP3448634A1 (ja) |
JP (1) | JP2019514706A (ja) |
KR (1) | KR20180137548A (ja) |
CN (1) | CN109070350B (ja) |
SG (1) | SG11201808707TA (ja) |
WO (1) | WO2017186637A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7563117B2 (ja) | 2020-10-30 | 2024-10-08 | セイコーエプソン株式会社 | ロボット制御方法およびロボットシステム |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6881361B2 (ja) * | 2018-03-14 | 2021-06-02 | オムロン株式会社 | ロボットの制御装置、ロボットのおよび制御方法 |
DE102018003271A1 (de) * | 2018-04-23 | 2019-10-24 | Franka Emika Gmbh | Verfahren zum Einfügen von Gegenständen in eine gemeinsame Gegenstandsaufnahme |
DE102018003270A1 (de) * | 2018-04-23 | 2019-10-24 | Franka Emika Gmbh | Verfahren zum Einfügen von Gegenständen in eine gemeinsame Aufnahmevorrichtung |
JP7145702B2 (ja) * | 2018-09-07 | 2022-10-03 | 株式会社日立物流 | ロボットシステム及びその制御方法 |
US11426874B2 (en) * | 2019-04-30 | 2022-08-30 | Flexiv Ltd. | Robot-based insertion mounting of workpieces |
JP7458818B2 (ja) * | 2020-02-21 | 2024-04-01 | キヤノン株式会社 | ロボット装置、インタフェース装置、制御装置、エンドエフェクタ、制御方法、ロボット装置を用いた物品の製造方法、プログラム及び記録媒体 |
Citations (2)
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JP2010058202A (ja) * | 2008-09-02 | 2010-03-18 | Yaskawa Electric Corp | ロボットの教示再生装置および教示再生方法 |
JP2011011315A (ja) * | 2009-07-06 | 2011-01-20 | Canon Inc | 部品組付け方法 |
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BG41865A1 (en) * | 1985-04-26 | 1987-09-15 | Ivanov | Method and device for scanning mounting of two- pieces entering one in the other |
JP3961408B2 (ja) | 2002-11-21 | 2007-08-22 | ファナック株式会社 | 組立て方法及び装置 |
JP2008290228A (ja) | 2007-04-24 | 2008-12-04 | Fanuc Ltd | 嵌合装置 |
JP4271249B2 (ja) * | 2007-06-14 | 2009-06-03 | ファナック株式会社 | 嵌合装置 |
DE102009058607A1 (de) | 2009-12-17 | 2011-06-22 | KUKA Laboratories GmbH, 86165 | Verfahren und Vorrichtung zum Steuern eines Manipulators |
DE102010012598A1 (de) | 2010-02-26 | 2011-09-01 | Kuka Laboratories Gmbh | Prozessmodulbibliothek und Programmierumgebung zur Programmierung eines Manipulatorprozesses |
JP5218470B2 (ja) * | 2010-04-28 | 2013-06-26 | 株式会社安川電機 | ロボットの作業成否判定装置、および方法 |
TW201205331A (en) * | 2010-07-28 | 2012-02-01 | Atp Electronics Taiwan Inc | Data secure system, method of storing and reading data |
DE202011103223U1 (de) | 2011-07-08 | 2012-10-11 | Kuka Systems Gmbh | Arbeitsvorrichtung |
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CN104625676B (zh) * | 2013-11-14 | 2016-09-14 | 沈阳新松机器人自动化股份有限公司 | 轴孔装配工业机器人系统及其工作方法 |
JP6489745B2 (ja) * | 2014-03-03 | 2019-03-27 | キヤノン株式会社 | ロボット装置、ロボット装置の制御方法、ロボット装置を用いた物品の組立方法、プログラム及び記録媒体 |
US9616532B2 (en) * | 2014-04-25 | 2017-04-11 | Honda Motor Co., Ltd. | Method and apparatus for performing a search and feel assembly function |
JP2015226967A (ja) * | 2014-06-02 | 2015-12-17 | セイコーエプソン株式会社 | ロボット、ロボットシステム、制御装置、及び制御方法 |
CN105382839A (zh) * | 2014-08-25 | 2016-03-09 | 精工爱普生株式会社 | 机器人以及机器人系统 |
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2017
- 2017-04-24 US US16/095,626 patent/US11203119B2/en active Active
- 2017-04-24 KR KR1020187033975A patent/KR20180137548A/ko not_active Application Discontinuation
- 2017-04-24 WO PCT/EP2017/059650 patent/WO2017186637A1/de active Application Filing
- 2017-04-24 JP JP2018555621A patent/JP2019514706A/ja active Pending
- 2017-04-24 SG SG11201808707TA patent/SG11201808707TA/en unknown
- 2017-04-24 CN CN201780024641.2A patent/CN109070350B/zh active Active
- 2017-04-24 EP EP17721565.4A patent/EP3448634A1/de not_active Withdrawn
Patent Citations (2)
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JP2010058202A (ja) * | 2008-09-02 | 2010-03-18 | Yaskawa Electric Corp | ロボットの教示再生装置および教示再生方法 |
JP2011011315A (ja) * | 2009-07-06 | 2011-01-20 | Canon Inc | 部品組付け方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP7563117B2 (ja) | 2020-10-30 | 2024-10-08 | セイコーエプソン株式会社 | ロボット制御方法およびロボットシステム |
Also Published As
Publication number | Publication date |
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KR20180137548A (ko) | 2018-12-27 |
SG11201808707TA (en) | 2018-11-29 |
CN109070350B (zh) | 2022-08-05 |
US11203119B2 (en) | 2021-12-21 |
EP3448634A1 (de) | 2019-03-06 |
US20190126483A1 (en) | 2019-05-02 |
WO2017186637A1 (de) | 2017-11-02 |
CN109070350A (zh) | 2018-12-21 |
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