JP2021094602A - 制御方法およびロボットシステム - Google Patents

制御方法およびロボットシステム Download PDF

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Publication number
JP2021094602A
JP2021094602A JP2019225198A JP2019225198A JP2021094602A JP 2021094602 A JP2021094602 A JP 2021094602A JP 2019225198 A JP2019225198 A JP 2019225198A JP 2019225198 A JP2019225198 A JP 2019225198A JP 2021094602 A JP2021094602 A JP 2021094602A
Authority
JP
Japan
Prior art keywords
speed
robot
arm
upper limit
robot arm
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Withdrawn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
JP2019225198A
Other languages
English (en)
Japanese (ja)
Other versions
JP2021094602A5 (https=
Inventor
喜士 山田
Yoshiji Yamada
喜士 山田
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 JP2019225198A priority Critical patent/JP2021094602A/ja
Priority to CN202011426866.0A priority patent/CN112975946B/zh
Priority to US17/118,910 priority patent/US11628563B2/en
Publication of JP2021094602A publication Critical patent/JP2021094602A/ja
Publication of JP2021094602A5 publication Critical patent/JP2021094602A5/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Withdrawn legal-status Critical Current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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • 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
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0081—Program-controlled manipulators with leader teach-in means
    • 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
    • B25J9/1694—Program 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
    • 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • 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
    • G05B2219/39438—Direct programming at the console

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
JP2019225198A 2019-12-13 2019-12-13 制御方法およびロボットシステム Withdrawn JP2021094602A (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2019225198A JP2021094602A (ja) 2019-12-13 2019-12-13 制御方法およびロボットシステム
CN202011426866.0A CN112975946B (zh) 2019-12-13 2020-12-09 控制方法和机器人系统
US17/118,910 US11628563B2 (en) 2019-12-13 2020-12-11 Control method and robot system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2019225198A JP2021094602A (ja) 2019-12-13 2019-12-13 制御方法およびロボットシステム

Publications (2)

Publication Number Publication Date
JP2021094602A true JP2021094602A (ja) 2021-06-24
JP2021094602A5 JP2021094602A5 (https=) 2022-11-21

Family

ID=76317155

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019225198A Withdrawn JP2021094602A (ja) 2019-12-13 2019-12-13 制御方法およびロボットシステム

Country Status (3)

Country Link
US (1) US11628563B2 (https=)
JP (1) JP2021094602A (https=)
CN (1) CN112975946B (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022125486A (ja) * 2021-02-17 2022-08-29 セイコーエプソン株式会社 ロボット監視装置及びロボットシステム
JP2023174157A (ja) * 2022-05-27 2023-12-07 株式会社デンソーウェーブ ロボットシステム

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6062482A (ja) * 1983-09-02 1985-04-10 フアナツク株式会社 ロボットの安全速度制御装置
JP2016147324A (ja) * 2015-02-10 2016-08-18 株式会社デンソーウェーブ ロボットの制御装置及び制御方法

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4014662B2 (ja) 1995-09-18 2007-11-28 ファナック株式会社 ロボット教示操作盤
JP4513568B2 (ja) 2002-07-18 2010-07-28 株式会社安川電機 ロボット制御装置
JP2004243427A (ja) 2003-02-12 2004-09-02 Yaskawa Electric Corp ロボット制御装置およびロボット制御方法
JP4347313B2 (ja) 2006-02-23 2009-10-21 ファナック株式会社 ロボット教示操作盤
JP2011020188A (ja) * 2009-07-14 2011-02-03 Seiko Epson Corp ロボット装置およびロボット装置の制御方法
EP2890529A2 (en) * 2012-08-31 2015-07-08 Rethink Robotics Inc. Systems and methods for safe robot operation
US9914216B2 (en) * 2012-11-09 2018-03-13 Abb Schweiz Ag Robot control with improved safety
CN104626171A (zh) * 2015-01-07 2015-05-20 北京卫星环境工程研究所 基于六维力传感器的机械臂碰撞检测与响应方法
JP2017052016A (ja) * 2015-09-07 2017-03-16 セイコーエプソン株式会社 ロボット、制御装置およびロボットシステム
JP6496353B2 (ja) * 2017-05-18 2019-04-03 ファナック株式会社 ロボットシステム
JP7225560B2 (ja) * 2018-04-26 2023-02-21 セイコーエプソン株式会社 制御装置、ロボットシステム、及び表示制御方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6062482A (ja) * 1983-09-02 1985-04-10 フアナツク株式会社 ロボットの安全速度制御装置
JP2016147324A (ja) * 2015-02-10 2016-08-18 株式会社デンソーウェーブ ロボットの制御装置及び制御方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022125486A (ja) * 2021-02-17 2022-08-29 セイコーエプソン株式会社 ロボット監視装置及びロボットシステム
JP7683236B2 (ja) 2021-02-17 2025-05-27 セイコーエプソン株式会社 ロボット監視装置及びロボットシステム
JP2023174157A (ja) * 2022-05-27 2023-12-07 株式会社デンソーウェーブ ロボットシステム

Also Published As

Publication number Publication date
US20210178577A1 (en) 2021-06-17
CN112975946A (zh) 2021-06-18
US11628563B2 (en) 2023-04-18
CN112975946B (zh) 2023-10-27

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