JP5071362B2 - 組み立て作業ロボットの制御方法および組み立て作業ロボット - Google Patents

組み立て作業ロボットの制御方法および組み立て作業ロボット Download PDF

Info

Publication number
JP5071362B2
JP5071362B2 JP2008313199A JP2008313199A JP5071362B2 JP 5071362 B2 JP5071362 B2 JP 5071362B2 JP 2008313199 A JP2008313199 A JP 2008313199A JP 2008313199 A JP2008313199 A JP 2008313199A JP 5071362 B2 JP5071362 B2 JP 5071362B2
Authority
JP
Japan
Prior art keywords
workpiece
robot
search
hole
work
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.)
Active
Application number
JP2008313199A
Other languages
English (en)
Japanese (ja)
Other versions
JP2010137299A (ja
JP2010137299A5 (enExample
Inventor
友之 関山
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 JP2008313199A priority Critical patent/JP5071362B2/ja
Publication of JP2010137299A publication Critical patent/JP2010137299A/ja
Publication of JP2010137299A5 publication Critical patent/JP2010137299A5/ja
Application granted granted Critical
Publication of JP5071362B2 publication Critical patent/JP5071362B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G05B2219/40032—Peg and hole insertion, mating and joining, remote center compliance
    • 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
    • G05B2219/40087—Align hand on workpiece to pick up workpiece, peg and hole

Landscapes

  • Automatic Assembly (AREA)
  • Manipulator (AREA)
JP2008313199A 2008-12-09 2008-12-09 組み立て作業ロボットの制御方法および組み立て作業ロボット Active JP5071362B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2008313199A JP5071362B2 (ja) 2008-12-09 2008-12-09 組み立て作業ロボットの制御方法および組み立て作業ロボット

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2008313199A JP5071362B2 (ja) 2008-12-09 2008-12-09 組み立て作業ロボットの制御方法および組み立て作業ロボット

Publications (3)

Publication Number Publication Date
JP2010137299A JP2010137299A (ja) 2010-06-24
JP2010137299A5 JP2010137299A5 (enExample) 2011-07-14
JP5071362B2 true JP5071362B2 (ja) 2012-11-14

Family

ID=42347878

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2008313199A Active JP5071362B2 (ja) 2008-12-09 2008-12-09 組み立て作業ロボットの制御方法および組み立て作業ロボット

Country Status (1)

Country Link
JP (1) JP5071362B2 (enExample)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5547559B2 (ja) 2010-06-16 2014-07-16 日立オートモティブシステムズ株式会社 電力変換装置
JP6511715B2 (ja) 2013-10-31 2019-05-15 セイコーエプソン株式会社 ロボット制御装置、ロボットシステム、及びロボット
JP6088563B2 (ja) * 2015-02-10 2017-03-01 ファナック株式会社 位置及び姿勢の変換演算機能を備えたワーク取出しロボットシステム、及びワーク取出し方法
JP6046218B1 (ja) * 2015-07-09 2016-12-14 ファナック株式会社 物体と物体とを合わせ状態にするロボットのロボット制御装置
JP6208724B2 (ja) * 2015-09-09 2017-10-04 ファナック株式会社 物体の姿勢算出システム
JP6647184B2 (ja) * 2016-10-14 2020-02-14 株式会社馬場鐵工所 不要部除去装置及び不要部除去方法
CN106514545B (zh) * 2016-10-26 2019-02-22 奇瑞汽车股份有限公司 一种斜孔压装装置
JP2020196076A (ja) * 2019-05-31 2020-12-10 三菱電機株式会社 ロボットコントローラ及び組付方法
JP7602103B2 (ja) * 2019-11-28 2024-12-18 株式会社デンソーウェーブ ロボットの制御方法、ロボットの制御装置、検査システム
US11833666B2 (en) 2020-10-28 2023-12-05 Shanghai Flexiv Robotics Technology Co., Ltd. Method for assembling an operating member and an adapting member by a robot, robot, and controller
JP7563117B2 (ja) * 2020-10-30 2024-10-08 セイコーエプソン株式会社 ロボット制御方法およびロボットシステム
KR102561625B1 (ko) * 2021-07-30 2023-07-31 한국생산기술연구원 로봇을 활용한 물체 조립 방법
CN114147724B (zh) * 2021-12-20 2024-04-16 上海景吾智能科技有限公司 机器人力控轴孔装配方法及系统
JP2023132975A (ja) * 2022-03-11 2023-09-22 オムロン株式会社 ロボットシステムおよびその制御方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63207530A (ja) * 1987-02-20 1988-08-26 Res Dev Corp Of Japan 精密自動組立装置
JPH05108108A (ja) * 1991-05-10 1993-04-30 Nok Corp コンプライアンス制御方法及び制御装置
JP3580562B2 (ja) * 1992-10-28 2004-10-27 株式会社東芝 ロボット
JPH07314262A (ja) * 1994-05-30 1995-12-05 Ishikawajima Harima Heavy Ind Co Ltd ピン挿入方法及び装置
JP3961408B2 (ja) * 2002-11-21 2007-08-22 ファナック株式会社 組立て方法及び装置

Also Published As

Publication number Publication date
JP2010137299A (ja) 2010-06-24

Similar Documents

Publication Publication Date Title
JP5071362B2 (ja) 組み立て作業ロボットの制御方法および組み立て作業ロボット
JP4199264B2 (ja) ワーク取り出し装置及び方法
US9868215B2 (en) Object pick-up system and method for picking up stacked objects
JP5266377B2 (ja) 物品の姿勢を修正する機能を備えた取出し装置
JP4938115B2 (ja) ワーク取出し装置およびワーク取出し方法
JP2019126894A (ja) ロボット制御装置及びロボットシステム
JP5272617B2 (ja) ロボット装置及びロボット装置の制御方法
JP6208701B2 (ja) クーラントノズルの位置を調整するためのロボットシステム、およびロボット制御方法
US20090084766A1 (en) Laser cutting system and method
US20170368687A1 (en) Method for teaching a robotic arm to pick or place an object
KR20180015774A (ko) 로봇 제어 방법 및 장치
US20170087676A1 (en) Method of machining workpiece by cooperation of machine tool and robot
JP2010137299A5 (enExample)
JPH03228591A (ja) ワーク把持装置、ワーク及びその収納ケース
KR20210110191A (ko) 로봇 제어 장치 및 로봇 제어 방법
CN116940451A (zh) 机器人系统以及工件供给方法
JP6382918B2 (ja) 成形機および成形品取出し装置を備える成形システム
EP3539729B1 (en) Control device of robot and control method of robot
KR20190018665A (ko) 와이어 방전 가공기 및 와이어 방전 가공 방법
JP5024689B2 (ja) 組立ロボットとその制御方法
JPH04256526A (ja) 組立部品の位置検出方法
JP4096305B2 (ja) ロボットによる部品自動組立方法および装置
JP2009125879A (ja) 組立用ロボットシステム
JP2019067153A (ja) 演算装置、工作システム、演算方法及びコンピュータプログラム
US8688269B2 (en) Apparatus for teaching a gripping device

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20110531

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20110531

RD02 Notification of acceptance of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7422

Effective date: 20120216

TRDD Decision of grant or rejection written
A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20120718

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

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20120724

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: 20120806

R150 Certificate of patent or registration of utility model

Ref document number: 5071362

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

Free format text: JAPANESE INTERMEDIATE CODE: R150

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

Free format text: PAYMENT UNTIL: 20150831

Year of fee payment: 3

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250