JP5550201B2 - 時間最適アーム動作を生成する方法 - Google Patents

時間最適アーム動作を生成する方法 Download PDF

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JP5550201B2
JP5550201B2 JP2001500199A JP2001500199A JP5550201B2 JP 5550201 B2 JP5550201 B2 JP 5550201B2 JP 2001500199 A JP2001500199 A JP 2001500199A JP 2001500199 A JP2001500199 A JP 2001500199A JP 5550201 B2 JP5550201 B2 JP 5550201B2
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trajectory
acceleration
arm
shape
end effector
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JP2003507195A (ja
JP2003507195A5 (enExample
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マーティン ホセック
ハカン エルマリ
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Azenta Inc
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/04—Manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • 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
    • G05B2219/40395—Compose movement with primitive movement segments from database
    • 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
    • G05B2219/40454—Max velocity, acceleration limit for workpiece and arm jerk rate as constraints
    • 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
    • G05B2219/40519—Motion, trajectory planning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/135—Associated with semiconductor wafer handling
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/135—Associated with semiconductor wafer handling
    • Y10S414/136—Associated with semiconductor wafer handling including wafer orienting means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/135—Associated with semiconductor wafer handling
    • Y10S414/137—Associated with semiconductor wafer handling including means for charging or discharging wafer cassette

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  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Economics (AREA)
  • Strategic Management (AREA)
  • Human Resources & Organizations (AREA)
  • Tourism & Hospitality (AREA)
  • Theoretical Computer Science (AREA)
  • Entrepreneurship & Innovation (AREA)
  • General Physics & Mathematics (AREA)
  • Marketing (AREA)
  • General Business, Economics & Management (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Primary Health Care (AREA)
  • Manufacturing & Machinery (AREA)
  • Health & Medical Sciences (AREA)
  • Development Economics (AREA)
  • Educational Administration (AREA)
  • General Health & Medical Sciences (AREA)
  • Game Theory and Decision Science (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Manipulator (AREA)
  • Complex Calculations (AREA)
  • Numerical Control (AREA)
JP2001500199A 1999-05-28 2000-05-15 時間最適アーム動作を生成する方法 Expired - Lifetime JP5550201B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US09/322,858 1999-05-28
US09/322,858 US6216058B1 (en) 1999-05-28 1999-05-28 System of trajectory planning for robotic manipulators based on pre-defined time-optimum trajectory shapes
PCT/US2000/013362 WO2000073967A1 (en) 1999-05-28 2000-05-15 Robotic manipulators based on pre-defined time-optimum trajectory shape

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2012172529A Division JP6240377B2 (ja) 1999-05-28 2012-08-03 時間最適アーム動作を生成する装置

Publications (3)

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JP2003507195A JP2003507195A (ja) 2003-02-25
JP2003507195A5 JP2003507195A5 (enExample) 2011-11-17
JP5550201B2 true JP5550201B2 (ja) 2014-07-16

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JP2001500199A Expired - Lifetime JP5550201B2 (ja) 1999-05-28 2000-05-15 時間最適アーム動作を生成する方法
JP2012172529A Expired - Lifetime JP6240377B2 (ja) 1999-05-28 2012-08-03 時間最適アーム動作を生成する装置
JP2016201355A Expired - Lifetime JP6587355B2 (ja) 1999-05-28 2016-10-12 時間最適アーム動作を生成する装置

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JP2012172529A Expired - Lifetime JP6240377B2 (ja) 1999-05-28 2012-08-03 時間最適アーム動作を生成する装置
JP2016201355A Expired - Lifetime JP6587355B2 (ja) 1999-05-28 2016-10-12 時間最適アーム動作を生成する装置

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US (1) US6216058B1 (enExample)
EP (1) EP1232464A4 (enExample)
JP (3) JP5550201B2 (enExample)
KR (1) KR100640019B1 (enExample)
CN (1) CN1240016C (enExample)
AU (1) AU5017800A (enExample)
TW (1) TW448092B (enExample)
WO (1) WO2000073967A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
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CN108687758A (zh) * 2017-04-11 2018-10-23 日本电产三协株式会社 机器人的移动速度控制装置及方法

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