JP2023131146A - 物体の取り扱いを伴うロボットシステムのための非一時的コンピュータ可読媒体、システム及び方法 - Google Patents

物体の取り扱いを伴うロボットシステムのための非一時的コンピュータ可読媒体、システム及び方法 Download PDF

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Publication number
JP2023131146A
JP2023131146A JP2023034778A JP2023034778A JP2023131146A JP 2023131146 A JP2023131146 A JP 2023131146A JP 2023034778 A JP2023034778 A JP 2023034778A JP 2023034778 A JP2023034778 A JP 2023034778A JP 2023131146 A JP2023131146 A JP 2023131146A
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JP
Japan
Prior art keywords
objects
end effector
target object
effector device
approach
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.)
Pending
Application number
JP2023034778A
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English (en)
Japanese (ja)
Inventor
渓 碓井
Kei Usui
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.)
Mujin Inc
Original Assignee
Mujin Inc
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 Mujin Inc filed Critical Mujin Inc
Publication of JP2023131146A publication Critical patent/JP2023131146A/ja
Priority to JP2023217911A priority Critical patent/JP2024019690A/ja
Pending 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
    • B25J9/1612—Program 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera 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
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • 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
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B2219/40053—Pick 3-D object from pile of objects
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45063—Pick and place manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
JP2023034778A 2022-03-08 2023-03-07 物体の取り扱いを伴うロボットシステムのための非一時的コンピュータ可読媒体、システム及び方法 Pending JP2023131146A (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2023217911A JP2024019690A (ja) 2022-03-08 2023-12-25 物体の取り扱いを伴うロボットシステムのためのシステム及び方法

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US202263317558P 2022-03-08 2022-03-08
US63/317,558 2022-03-08
US18/177,578 US20230286140A1 (en) 2022-03-08 2023-03-02 Systems and methods for robotic system with object handling
US18/177,578 2023-03-02

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2023217911A Division JP2024019690A (ja) 2022-03-08 2023-12-25 物体の取り扱いを伴うロボットシステムのためのシステム及び方法

Publications (1)

Publication Number Publication Date
JP2023131146A true JP2023131146A (ja) 2023-09-21

Family

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Family Applications (2)

Application Number Title Priority Date Filing Date
JP2023034778A Pending JP2023131146A (ja) 2022-03-08 2023-03-07 物体の取り扱いを伴うロボットシステムのための非一時的コンピュータ可読媒体、システム及び方法
JP2023217911A Pending JP2024019690A (ja) 2022-03-08 2023-12-25 物体の取り扱いを伴うロボットシステムのためのシステム及び方法

Family Applications After (1)

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JP2023217911A Pending JP2024019690A (ja) 2022-03-08 2023-12-25 物体の取り扱いを伴うロボットシステムのためのシステム及び方法

Country Status (3)

Country Link
US (1) US20230286140A1 (https=)
JP (2) JP2023131146A (https=)
CN (1) CN116728399A (https=)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12165523B2 (en) * 2021-03-15 2024-12-10 Aurora Flight Sciences Corporation, a subsidiary of The Boeing Company Systems and methods for tracking objects relative to an aircraft within an air space
WO2022251881A2 (en) * 2021-05-27 2022-12-01 Ambi Robotics, Inc. System and method for planning and adapting to object manipulation by a robotic system
DE112023000857B4 (de) * 2022-02-08 2026-04-23 Kabushiki Kaisha Toshiba Handhabungssystem, handhabungsverfahren, programm, informationsverarbeitungsvorrichtung und datenstruktur
DE102022125564B3 (de) * 2022-10-04 2023-10-12 J.Schmalz Gmbh Verfahren zum Handhaben von Gegenständen und Handhabungsanlage
KR102521819B1 (ko) * 2023-01-26 2023-04-17 주식회사 브릴스 파렛타이징 시스템
US20250196357A1 (en) * 2023-12-14 2025-06-19 Industrial Technology Research Institute Parameter calibration method, parameter calibration system and non-transitory computer readable medium
US20250370476A1 (en) * 2024-05-31 2025-12-04 Boston Dynamics, Inc. Methods and apparatus for object quality detection
US20260042207A1 (en) * 2024-08-06 2026-02-12 GM Global Technology Operations LLC Systems and methods for manufacturing with an end effector having two or more independent tools

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5013270B2 (ja) * 2006-02-02 2012-08-29 株式会社安川電機 ロボットシステム
JP2019125056A (ja) * 2018-01-12 2019-07-25 キヤノン株式会社 情報処理システム、情報処理装置、情報処理方法及びプログラム
JP2020196113A (ja) * 2019-05-31 2020-12-10 株式会社Ｍｕｊｉｎ ロボットシステムおよびその動作方法並びに非一時的なコンピュータ可読媒体
JP2022017739A (ja) * 2020-07-14 2022-01-26 株式会社キーエンス 画像処理装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5013270B2 (ja) * 2006-02-02 2012-08-29 株式会社安川電機 ロボットシステム
JP2019125056A (ja) * 2018-01-12 2019-07-25 キヤノン株式会社 情報処理システム、情報処理装置、情報処理方法及びプログラム
JP2020196113A (ja) * 2019-05-31 2020-12-10 株式会社Ｍｕｊｉｎ ロボットシステムおよびその動作方法並びに非一時的なコンピュータ可読媒体
JP2022017739A (ja) * 2020-07-14 2022-01-26 株式会社キーエンス 画像処理装置

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Publication number Publication date
US20230286140A1 (en) 2023-09-14
CN116728399A (zh) 2023-09-12
JP2024019690A (ja) 2024-02-09

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