JP3933158B2 - ロボットの衝突検出方法 - Google Patents

ロボットの衝突検出方法 Download PDF

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Publication number
JP3933158B2
JP3933158B2 JP2004306673A JP2004306673A JP3933158B2 JP 3933158 B2 JP3933158 B2 JP 3933158B2 JP 2004306673 A JP2004306673 A JP 2004306673A JP 2004306673 A JP2004306673 A JP 2004306673A JP 3933158 B2 JP3933158 B2 JP 3933158B2
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JP
Japan
Prior art keywords
robot
collision detection
collision
motor
torque
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JP2004306673A
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English (en)
Japanese (ja)
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JP2006116650A (ja
Inventor
広之 中田
直人 増永
康士 向井
将 古和
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.)
Panasonic Corp
Panasonic Holdings Corp
Original Assignee
Panasonic Corp
Matsushita Electric Industrial Co Ltd
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Priority to JP2004306673A priority Critical patent/JP3933158B2/ja
Application filed by Panasonic Corp, Matsushita Electric Industrial Co Ltd filed Critical Panasonic Corp
Priority to EP05795802A priority patent/EP1704956B1/en
Priority to AT05795802T priority patent/ATE497421T1/de
Priority to CNB2005800016352A priority patent/CN100453237C/zh
Priority to US10/582,563 priority patent/US7842904B2/en
Priority to PCT/JP2005/019119 priority patent/WO2006043550A1/ja
Priority to DE602005026204T priority patent/DE602005026204D1/de
Publication of JP2006116650A publication Critical patent/JP2006116650A/ja
Application granted granted Critical
Publication of JP3933158B2 publication Critical patent/JP3933158B2/ja
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JP2004306673A 2004-10-21 2004-10-21 ロボットの衝突検出方法 Active JP3933158B2 (ja)

Priority Applications (7)

Application Number Priority Date Filing Date Title
JP2004306673A JP3933158B2 (ja) 2004-10-21 2004-10-21 ロボットの衝突検出方法
AT05795802T ATE497421T1 (de) 2004-10-21 2005-10-18 Schweisssystem und abschmelzelektroden- schweissverfahren
CNB2005800016352A CN100453237C (zh) 2004-10-21 2005-10-18 焊接系统及自耗电极式焊接方法
US10/582,563 US7842904B2 (en) 2004-10-21 2005-10-18 Welding system and consumable electrode welding method
EP05795802A EP1704956B1 (en) 2004-10-21 2005-10-18 Welding system and consumable electrode welding method
PCT/JP2005/019119 WO2006043550A1 (ja) 2004-10-21 2005-10-18 溶接システムおよび消耗電極式溶接方法
DE602005026204T DE602005026204D1 (de) 2004-10-21 2005-10-18 Schweisssystem und abschmelzelektroden-schweissverfahren

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2004306673A JP3933158B2 (ja) 2004-10-21 2004-10-21 ロボットの衝突検出方法

Publications (2)

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JP2006116650A JP2006116650A (ja) 2006-05-11
JP3933158B2 true JP3933158B2 (ja) 2007-06-20

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Family Applications (1)

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JP2004306673A Active JP3933158B2 (ja) 2004-10-21 2004-10-21 ロボットの衝突検出方法

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JP (1) JP3933158B2 (zh)
CN (1) CN100453237C (zh)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4109280B2 (ja) * 2005-09-08 2008-07-02 ファナック株式会社 サーボモータによって駆動制御される可動部を有する機械
WO2009128156A1 (ja) * 2008-04-17 2009-10-22 三菱電機株式会社 加工機における衝突検出装置及び衝突検出方法
JP5912683B2 (ja) * 2012-03-07 2016-04-27 株式会社神戸製鋼所 モータ駆動構造を備えたシステム、モータ駆動構造のシステムに用いられるプログラム、および溶接物製造方法
CN102621991B (zh) * 2012-03-27 2015-03-11 中联重科股份有限公司 运动机构的定位控制装置、系统、方法和工程机械
EP2913163B1 (en) * 2012-10-25 2019-10-09 Panasonic Intellectual Property Management Co., Ltd. Robot malfunction indication method
JP2014128810A (ja) * 2012-12-28 2014-07-10 Daihen Corp アーク溶接装置及びこれに用いられる送給機
FR3002048B1 (fr) * 2013-02-14 2016-07-01 Commissariat Energie Atomique Procede de detection amelioree de collision d'un robot avec son environnement, systeme et produit programme d'ordinateur mettant en œuvre le procede
CN104588934A (zh) * 2014-12-15 2015-05-06 广西科技大学 一种焊接机器人的焊枪控制焊接方法
EP3351356B1 (en) * 2015-09-16 2020-11-18 Panasonic Intellectual Property Management Co., Ltd. Robot collision detection method
US10792682B2 (en) * 2017-10-02 2020-10-06 Illinois Tool Works Inc. Metal manufacturing systems and methods using mechanical oscillation
CN108637490B (zh) * 2018-04-10 2020-05-29 上海柏楚电子科技股份有限公司 一种自动测量双驱激光切割机负载惯量与摩擦力矩的方法
KR102149008B1 (ko) * 2018-12-13 2020-08-31 (주)미래컴퍼니 수술용 로봇의 충돌을 완화시키는 방법 및 시스템
CN109581967B (zh) * 2018-12-29 2020-03-17 西安交通大学 一种基于机电耦合作用的高速进给系统速度避振规划方法
CN111369110A (zh) * 2020-02-25 2020-07-03 北京博清科技有限公司 一种焊接任务执行方法、装置、设备和存储介质
DE112021001503T5 (de) * 2020-03-10 2022-12-29 Fanuc Corporation Robotersteuervorrichtung

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3355420B2 (ja) * 1993-11-18 2002-12-09 株式会社椿本チエイン 産業用ロボットの制御方法
JP3367641B2 (ja) * 1998-07-31 2003-01-14 株式会社安川電機 ロボットの制御装置
CN1259416A (zh) * 1998-08-05 2000-07-12 Dct公司 无水焊接系统
WO2000054924A1 (fr) * 1999-03-18 2000-09-21 Kabushiki Kaisha Yaskawa Denki Procede de soudage a l'arc a electrode fusible et dispositif associe
JP2002178146A (ja) * 2000-12-15 2002-06-25 Daihen Corp アークスタート制御方法
JP4499303B2 (ja) * 2001-01-09 2010-07-07 株式会社ダイヘン ロボットアーク溶接のアークスタート制御方法
JP3878054B2 (ja) * 2001-05-08 2007-02-07 三菱電機株式会社 ロボット制御装置
JP3990182B2 (ja) * 2002-04-19 2007-10-10 株式会社ダイヘン アークスタート制御方法
CN1186161C (zh) * 2002-06-27 2005-01-26 上海交通大学 熔化极气保护电弧焊的引弧方法

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CN1905982A (zh) 2007-01-31
JP2006116650A (ja) 2006-05-11
CN100453237C (zh) 2009-01-21

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