JP4922584B2 - ロボットシステム - Google Patents

ロボットシステム Download PDF

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Publication number
JP4922584B2
JP4922584B2 JP2005243351A JP2005243351A JP4922584B2 JP 4922584 B2 JP4922584 B2 JP 4922584B2 JP 2005243351 A JP2005243351 A JP 2005243351A JP 2005243351 A JP2005243351 A JP 2005243351A JP 4922584 B2 JP4922584 B2 JP 4922584B2
Authority
JP
Japan
Prior art keywords
robot
tool
laser beam
laser
point
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
JP2005243351A
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English (en)
Japanese (ja)
Other versions
JP2006187803A5 (https=
JP2006187803A (ja
Inventor
俊充 入江
隆一 守田
清吾 西川
彰生 佐藤
剛司 池田
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
Toyota Motor Corp
Original Assignee
Yaskawa Electric Corp
Toyota Motor 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, Toyota Motor Corp filed Critical Yaskawa Electric Corp
Priority to JP2005243351A priority Critical patent/JP4922584B2/ja
Priority to CN2005800425354A priority patent/CN101076763B/zh
Priority to PCT/JP2005/022575 priority patent/WO2006062167A1/ja
Priority to US11/721,408 priority patent/US7974735B2/en
Priority to EP05814619.2A priority patent/EP1826643B1/en
Publication of JP2006187803A publication Critical patent/JP2006187803A/ja
Publication of JP2006187803A5 publication Critical patent/JP2006187803A5/ja
Application granted granted Critical
Publication of JP4922584B2 publication Critical patent/JP4922584B2/ja
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B25J9/1656—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
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least three axial directions, e.g. manipulators, robots
    • 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
    • G05B2219/39177—Compensation position working point as function of inclination tool, hand
    • 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
    • G05B2219/39401—Machine tool coordinates to manipulator coordinates
    • 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
    • G05B2219/39572—Task, tool manipulation
    • 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
    • G05B2219/40416—Planning for variable length tool, laser beam as tool
    • 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
    • G05B2219/45138—Laser welding
    • 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
    • G05B2219/45165—Laser machining

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Laser Beam Processing (AREA)
  • Manipulator (AREA)
JP2005243351A 2004-12-10 2005-08-24 ロボットシステム Expired - Fee Related JP4922584B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2005243351A JP4922584B2 (ja) 2004-12-10 2005-08-24 ロボットシステム
CN2005800425354A CN101076763B (zh) 2004-12-10 2005-12-08 机器人系统
PCT/JP2005/022575 WO2006062167A1 (ja) 2004-12-10 2005-12-08 ロボットシステム
US11/721,408 US7974735B2 (en) 2004-12-10 2005-12-08 Laser tool robot system with coordinated drive shaft control
EP05814619.2A EP1826643B1 (en) 2004-12-10 2005-12-08 Robot system

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2004358830 2004-12-10
JP2004358830 2004-12-10
JP2005243351A JP4922584B2 (ja) 2004-12-10 2005-08-24 ロボットシステム

Publications (3)

Publication Number Publication Date
JP2006187803A JP2006187803A (ja) 2006-07-20
JP2006187803A5 JP2006187803A5 (https=) 2008-09-18
JP4922584B2 true JP4922584B2 (ja) 2012-04-25

Family

ID=36577990

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2005243351A Expired - Fee Related JP4922584B2 (ja) 2004-12-10 2005-08-24 ロボットシステム

Country Status (5)

Country Link
US (1) US7974735B2 (https=)
EP (1) EP1826643B1 (https=)
JP (1) JP4922584B2 (https=)
CN (1) CN101076763B (https=)
WO (1) WO2006062167A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10780577B2 (en) 2016-12-16 2020-09-22 Fanuc Corporation Machine learning device, robot system, and machine learning method for learning operations of robot and laser scanner

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JP4353219B2 (ja) * 2006-08-14 2009-10-28 日産自動車株式会社 レーザ加工装置、レーザ加工装置の制御方法
DE102007026956A1 (de) * 2007-06-12 2008-12-18 Kuka Innotec Gmbh Verfahren und System zum Roboter geführten Depalettieren von Reifen
US8457791B2 (en) * 2009-03-10 2013-06-04 GM Global Technology Operations LLC Method for dynamically controlling a robotic arm
JP5316124B2 (ja) * 2009-03-13 2013-10-16 日産自動車株式会社 レーザー溶接装置
DE102009023297A1 (de) 2009-05-29 2010-12-02 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Betrieb einer zusätzlichen Werkzeugachse eines von einem Manipulator geführten Werkzeugs
DE102010063222B4 (de) * 2010-12-16 2019-02-14 Robert Bosch Gmbh Einrichtung und Verfahren zur Programmierung einer Handhabungsvorrichtung sowie Handhabungsvorrichtung
JP5441018B2 (ja) * 2011-03-15 2014-03-12 株式会社安川電機 ロボットシステム
JP5459256B2 (ja) * 2011-04-08 2014-04-02 株式会社安川電機 ロボットシステム
JP5459255B2 (ja) 2011-04-08 2014-04-02 株式会社安川電機 ロボットシステム
CN102794767B (zh) * 2012-08-31 2014-09-24 江南大学 视觉引导的机器人关节空间b样条轨迹规划方法
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US10399178B2 (en) 2012-12-20 2019-09-03 3M Innovative Properties Company Material processing system with low-inertia laser scanning and end effector manipulation
JP6453555B2 (ja) * 2013-03-29 2019-01-16 ファナック アメリカ コーポレイション ロボットによるレーザブレーズ工程或いはレーザ溶接工程の適応制御
CN104162894B (zh) * 2013-05-17 2016-03-02 光宝电子(广州)有限公司 清扫机器人及清扫机器人的定位方法
JP6311421B2 (ja) * 2014-04-10 2018-04-18 株式会社安川電機 ティーチングシステム、ロボットシステムおよびティーチング方法
CN104062902B (zh) * 2014-05-15 2017-01-04 江南大学 Delta机器人时间最优轨迹规划方法
JP5905521B2 (ja) * 2014-06-26 2016-04-20 ファナック株式会社 工具先端点制御中に生じるバックラッシを抑制することを特徴とする数値制御装置
WO2016021130A1 (ja) * 2014-08-05 2016-02-11 パナソニックＩｐマネジメント株式会社 オフラインティーチング装置
JP2016163921A (ja) * 2015-03-06 2016-09-08 ファナック株式会社 曲げ加工機と同期動作するロボットを有するロボットシステム
JP6434434B2 (ja) * 2016-02-09 2018-12-05 ファナック株式会社 加工装置をロボットに接続して加工を行う加工ロボットシステム
CN105834735A (zh) * 2016-04-19 2016-08-10 北京航空航天大学 一种基于激光跟踪仪的零部件自动装配方法
JP6325646B1 (ja) 2016-12-12 2018-05-16 ファナック株式会社 ロボットを用いてレーザ加工を行うレーザ加工ロボットシステム及びレーザ加工ロボットの制御方法
JP6464213B2 (ja) * 2017-02-09 2019-02-06 ファナック株式会社 レーザ加工ヘッドおよび撮影装置を備えるレーザ加工システム
JP6496340B2 (ja) * 2017-03-17 2019-04-03 ファナック株式会社 スキャナ制御装置、ロボット制御装置及びリモートレーザ溶接ロボットシステム
CN107052599A (zh) * 2017-04-18 2017-08-18 温州大学 一种机器人激光焊接起焊点收焊点去焊坑的方法
JP2019158500A (ja) * 2018-03-12 2019-09-19 オムロン株式会社 外観検査システム、画像処理装置、撮像装置および検査方法
JP6836558B2 (ja) 2018-08-31 2021-03-03 ファナック株式会社 レーザ加工のための教示装置
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CN110561421B (zh) * 2019-08-09 2021-03-19 哈尔滨工业大学（深圳） 机械臂间接拖动示教方法及装置
JP7464055B2 (ja) * 2019-08-30 2024-04-09 株式会社ニコン 処理システム及びロボットシステム
CN111168671A (zh) * 2020-01-02 2020-05-19 珠海格力电器股份有限公司 一种伺服驱动器、控制方法和控制系统
TWI903031B (zh) * 2021-03-08 2025-11-01 日商發那科股份有限公司 控制系統、控制裝置及外部裝置
DE102022213536A1 (de) * 2022-12-13 2024-06-13 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Herstellen eines Sensors und Sensor

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10780577B2 (en) 2016-12-16 2020-09-22 Fanuc Corporation Machine learning device, robot system, and machine learning method for learning operations of robot and laser scanner

Also Published As

Publication number Publication date
US20080161964A1 (en) 2008-07-03
CN101076763B (zh) 2010-06-02
EP1826643A4 (en) 2011-11-30
US7974735B2 (en) 2011-07-05
WO2006062167A1 (ja) 2006-06-15
EP1826643B1 (en) 2014-06-18
CN101076763A (zh) 2007-11-21
JP2006187803A (ja) 2006-07-20
EP1826643A1 (en) 2007-08-29

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