JP4577607B2 - ロボットの制御装置およびロボットシステム - Google Patents

ロボットの制御装置およびロボットシステム Download PDF

Info

Publication number
JP4577607B2
JP4577607B2 JP2004306027A JP2004306027A JP4577607B2 JP 4577607 B2 JP4577607 B2 JP 4577607B2 JP 2004306027 A JP2004306027 A JP 2004306027A JP 2004306027 A JP2004306027 A JP 2004306027A JP 4577607 B2 JP4577607 B2 JP 4577607B2
Authority
JP
Japan
Prior art keywords
robot
model
orientation
link
joint
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.)
Expired - Fee Related
Application number
JP2004306027A
Other languages
English (en)
Japanese (ja)
Other versions
JP2006116635A5 (enExample
JP2006116635A (ja
Inventor
泰生 岸
康之 井上
英夫 永田
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.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric 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 Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Priority to JP2004306027A priority Critical patent/JP4577607B2/ja
Publication of JP2006116635A publication Critical patent/JP2006116635A/ja
Publication of JP2006116635A5 publication Critical patent/JP2006116635A5/ja
Application granted granted Critical
Publication of JP4577607B2 publication Critical patent/JP4577607B2/ja
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Landscapes

  • Manipulator (AREA)
JP2004306027A 2004-10-20 2004-10-20 ロボットの制御装置およびロボットシステム Expired - Fee Related JP4577607B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2004306027A JP4577607B2 (ja) 2004-10-20 2004-10-20 ロボットの制御装置およびロボットシステム

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2004306027A JP4577607B2 (ja) 2004-10-20 2004-10-20 ロボットの制御装置およびロボットシステム

Publications (3)

Publication Number Publication Date
JP2006116635A JP2006116635A (ja) 2006-05-11
JP2006116635A5 JP2006116635A5 (enExample) 2007-09-13
JP4577607B2 true JP4577607B2 (ja) 2010-11-10

Family

ID=36535003

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2004306027A Expired - Fee Related JP4577607B2 (ja) 2004-10-20 2004-10-20 ロボットの制御装置およびロボットシステム

Country Status (1)

Country Link
JP (1) JP4577607B2 (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5177008B2 (ja) * 2009-02-20 2013-04-03 株式会社安川電機 ロボットの制御装置およびロボット
KR101145243B1 (ko) 2010-03-31 2012-05-24 한국과학기술연구원 다관절 매니퓰레이터의 위치센서를 이용한 제한 공간 산출 방법
EP2952300A1 (en) * 2014-06-05 2015-12-09 Aldebaran Robotics Collision detection
JP2017177255A (ja) 2016-03-29 2017-10-05 ソニー株式会社 制御装置及び制御方法
CN115728786A (zh) * 2023-01-10 2023-03-03 北京华录高诚科技有限公司 基于北斗的港口大型作业机械设备防碰撞方法及系统

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62279409A (ja) * 1986-05-28 1987-12-04 Nec Corp ロボツト動作シミユレ−タ
JPH01120607A (ja) * 1987-11-04 1989-05-12 Mitsubishi Electric Corp モータ制御装置
JP3269852B2 (ja) * 1992-05-29 2002-04-02 本田技研工業株式会社 脚式移動ロボットの姿勢安定化制御装置
JP3025421B2 (ja) * 1995-06-14 2000-03-27 三菱電機株式会社 制御システムの異常検知装置
JPH09261618A (ja) * 1996-03-21 1997-10-03 Toshiba Corp 遠隔操作装置
JP3566014B2 (ja) * 1997-02-13 2004-09-15 三菱電機株式会社 加工装置
JPH10315173A (ja) * 1997-05-13 1998-12-02 Sankyo Seiki Mfg Co Ltd ロボットの異常検出装置
JP3165087B2 (ja) * 1997-09-30 2001-05-14 株式会社不二越 産業用ロボットの故障検出方法
JP4739556B2 (ja) * 2001-03-27 2011-08-03 株式会社安川電機 制御対象の遠隔調整及び異常判断装置
JP2003165079A (ja) * 2001-11-28 2003-06-10 Nachi Fujikoshi Corp 産業用ロボット
JP2004181543A (ja) * 2002-11-29 2004-07-02 Nachi Fujikoshi Corp 産業用ロボット及びその異常判断方法

Also Published As

Publication number Publication date
JP2006116635A (ja) 2006-05-11

Similar Documents

Publication Publication Date Title
CN102785253B (zh) 具有机器人的异常检测功能的机器人系统及其控制方法
US11548153B2 (en) Robot comprising safety system ensuring stopping time and distance
CN108772838B (zh) 一种基于外力观测器的机械臂安全碰撞策略
JP4550849B2 (ja) アーム搭載移動ロボット
CN105751222B (zh) 具有碰撞检测的机器人医学设备及其碰撞检测方法
US20100234996A1 (en) Manipulator, Particularly Industrial Robot, Having A Redundant Sensor Arrangement, And Method For The Control Thereof
KR101818858B1 (ko) 수동 안내-작동모드로의 로봇의 제어기의 전환
JP6145153B2 (ja) ロボットの非常停止の発生状況を記録するロボット制御装置
US11534918B2 (en) Device and method for controlling cooperative robot
JP6445150B2 (ja) ロボット・マニピュレータを制御する方法、コンピュータ・システム、デジタル記録媒体、コンピュータ・プログラム製品、コンピュータ・プログラム、装置およびロボット
CN208614800U (zh) 一种机器人的控制系统
US20190001504A1 (en) Method For Detecting A Collision Of A Robot Arm With An Object, And A Robot With A Robot Arm
KR20150080050A (ko) 다관절로봇의 충돌 감지 장치 및 이를 이용한 충돌 감지 방법
CN102189552A (zh) 机器人系统
JP2012051042A (ja) ロボットシステム及びロボット制御装置
US20160089787A1 (en) Robot controller
KR101820580B1 (ko) 경로 전진 변수들을 갖는 안전한 로봇
JP2019141967A (ja) 振動解析装置および振動解析方法
KR101329853B1 (ko) 머니퓰레이터 충돌 감지 장치와 이를 이용한 머니퓰레이터 제어 장치 및 제어 방법
JP6526097B2 (ja) ロボットシステム
CN110914019A (zh) 机器人停止距离模拟方法
CN110740840A (zh) 确定铰接式工业机器人的关节中的关节转矩的方法
JP4577607B2 (ja) ロボットの制御装置およびロボットシステム
WO2020049979A1 (ja) ロボットの制御装置
JP4258718B2 (ja) ロボット制御装置

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20070725

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20070725

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20090305

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20090311

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20090413

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20100302

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20100407

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20100510

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20100628

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20100730

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20100812

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130903

Year of fee payment: 3

R150 Certificate of patent or registration of utility model

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140903

Year of fee payment: 4

LAPS Cancellation because of no payment of annual fees