JP6185247B2 - 軌道計画最適化のためのロボット、コンピュータプログラムプロダクト及び方法 - Google Patents
軌道計画最適化のためのロボット、コンピュータプログラムプロダクト及び方法 Download PDFInfo
- Publication number
- JP6185247B2 JP6185247B2 JP2013003133A JP2013003133A JP6185247B2 JP 6185247 B2 JP6185247 B2 JP 6185247B2 JP 2013003133 A JP2013003133 A JP 2013003133A JP 2013003133 A JP2013003133 A JP 2013003133A JP 6185247 B2 JP6185247 B2 JP 6185247B2
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- Prior art keywords
- manipulator
- motion
- robot
- movable
- segment
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- 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.)
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- 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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
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- 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
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- 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
- G05B2219/39109—Dual arm, multiarm manipulation, object handled in cooperation
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- 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
- G05B2219/40014—Gripping workpiece to place it in another place
-
- 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
- G05B2219/40411—Robot assists human in non-industrial environment like home or office
-
- 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
- G05B2219/45084—Service robot
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/350,179 US8843235B2 (en) | 2012-01-13 | 2012-01-13 | Robots, computer program products, and methods for trajectory plan optimization |
| US13/350,179 | 2012-01-13 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2013144354A JP2013144354A (ja) | 2013-07-25 |
| JP2013144354A5 JP2013144354A5 (enExample) | 2015-06-18 |
| JP6185247B2 true JP6185247B2 (ja) | 2017-08-23 |
Family
ID=47631277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2013003133A Active JP6185247B2 (ja) | 2012-01-13 | 2013-01-11 | 軌道計画最適化のためのロボット、コンピュータプログラムプロダクト及び方法 |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US8843235B2 (enExample) |
| EP (1) | EP2614936B1 (enExample) |
| JP (1) | JP6185247B2 (enExample) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5516610B2 (ja) * | 2012-01-19 | 2014-06-11 | 株式会社安川電機 | ロボット、ロボットハンドおよびロボットハンドの保持位置調整方法 |
| EP2685403B1 (en) | 2012-07-09 | 2025-04-23 | Deep Learning Robotics Ltd. | Natural machine interface system |
| JP6387599B2 (ja) * | 2013-10-31 | 2018-09-12 | セイコーエプソン株式会社 | ロボット、ロボットシステム、制御装置及び制御方法 |
| US9701012B1 (en) * | 2014-10-30 | 2017-07-11 | Daniel Theobald | Controlled interaction between a mobile robot and another entity |
| US9910761B1 (en) | 2015-06-28 | 2018-03-06 | X Development Llc | Visually debugging robotic processes |
| CN105511266B (zh) * | 2016-01-07 | 2018-09-11 | 无锡信捷电气股份有限公司 | 基于引力搜索粒子群算法的Delta机器人轨迹规划方法 |
| US11591170B2 (en) * | 2019-10-25 | 2023-02-28 | Dexai Robotics, Inc. | Robotic systems and methods for conveyance of items |
| CN112847376A (zh) * | 2021-02-02 | 2021-05-28 | 广东技术师范大学 | 一种安全购药机器人及其控制方法 |
| US12108993B2 (en) | 2021-08-05 | 2024-10-08 | GE Precision Healthcare LLC | Methods and system for guided device insertion during medical imaging |
| USD1094503S1 (en) * | 2024-01-11 | 2025-09-23 | Qiheng Huang | Intelligent robot |
| USD1094504S1 (en) * | 2024-01-15 | 2025-09-23 | Qiheng Huang | Intelligent robot |
Family Cites Families (44)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3985238A (en) | 1973-03-17 | 1976-10-12 | Daikin Kogyo Co., Ltd. | Industrial robot |
| DE2530261C2 (de) | 1974-10-22 | 1986-10-23 | Asea S.p.A., Mailand/Milano | Programmiereinrichtung für einen Manipulator |
| JPS5840761B2 (ja) | 1978-12-20 | 1983-09-07 | 工業技術院長 | 人間腕形マニピュレ−タの制御装置 |
| JPS5766887A (en) | 1980-10-08 | 1982-04-23 | Fujitsu Fanuc Ltd | Hand for industrial robot |
| DE3277087D1 (en) | 1981-09-24 | 1987-10-01 | Hitachi Ltd | Control system for robot hand |
| CA1216343A (en) | 1983-05-02 | 1987-01-06 | Tomohiro Murata | Method and apparatus for controlling an operation sequence of a machinery |
| US5023808A (en) | 1987-04-06 | 1991-06-11 | California Institute Of Technology | Dual-arm manipulators with adaptive control |
| US4762455A (en) | 1987-06-01 | 1988-08-09 | Remote Technology Corporation | Remote manipulator |
| US5038089A (en) | 1988-03-23 | 1991-08-06 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Synchronized computational architecture for generalized bilateral control of robot arms |
| JP2676397B2 (ja) | 1989-01-05 | 1997-11-12 | 株式会社エイ・ティ・アール視聴覚機構研究所 | 動的システムの運動軌道生成方法 |
| US4974210A (en) | 1989-05-01 | 1990-11-27 | General Electric Company | Multiple arm robot with force control and inter-arm position accommodation |
| US5336982A (en) | 1993-03-24 | 1994-08-09 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Dual-arm generalized compliant motion with shared control |
| JP4765155B2 (ja) * | 2000-09-28 | 2011-09-07 | ソニー株式会社 | オーサリング・システム及びオーサリング方法、並びに記憶媒体 |
| JP4119080B2 (ja) | 2000-11-17 | 2008-07-16 | 本田技研工業株式会社 | 人間型ロボットの腕構造 |
| JP2004531048A (ja) | 2000-12-15 | 2004-10-07 | サイバーオプティクス コーポレーション | 改良されたインタフェースを有する基板整列画像捕捉装置 |
| ATE342527T1 (de) * | 2001-04-05 | 2006-11-15 | Siemens Ag | Roboterintelligenz in natürlichen umgebungen |
| JP3577028B2 (ja) * | 2001-11-07 | 2004-10-13 | 川崎重工業株式会社 | ロボットの協調制御システム |
| WO2003061917A1 (fr) | 2002-01-18 | 2003-07-31 | Honda Giken Kogyo Kabushiki Kaisha | Dispositif de commande pour robot bipede |
| DE10235943A1 (de) | 2002-08-06 | 2004-02-19 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum synchronen Steuern von Handhabungsgeräten |
| EP2070487B1 (en) | 2002-08-13 | 2014-03-05 | NeuroArm Surgical, Ltd. | Microsurgical robot system |
| US7386365B2 (en) | 2004-05-04 | 2008-06-10 | Intuitive Surgical, Inc. | Tool grip calibration for robotic surgery |
| US7211978B2 (en) | 2003-06-20 | 2007-05-01 | Fanuc Robotics America, Inc. | Multiple robot arm tracking and mirror jog |
| JP4592276B2 (ja) * | 2003-10-24 | 2010-12-01 | ソニー株式会社 | ロボット装置のためのモーション編集装置及びモーション編集方法、並びにコンピュータ・プログラム |
| DE102004026813A1 (de) | 2004-06-02 | 2005-12-29 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Steuern von Handhabungsgeräten |
| JP4027350B2 (ja) | 2004-06-29 | 2007-12-26 | ファナック株式会社 | ロボットの待機位置復帰プログラム作成装置 |
| US7592768B2 (en) | 2004-11-17 | 2009-09-22 | Thk Co., Ltd. | Robot joint structure and robot finger |
| JP4382003B2 (ja) * | 2005-03-23 | 2009-12-09 | 川崎重工業株式会社 | ロボット制御装置およびロボット制御方法 |
| US7245975B2 (en) | 2005-04-20 | 2007-07-17 | Parker-Hannifin Corporation | Skew compensation |
| US7860609B2 (en) * | 2005-05-06 | 2010-12-28 | Fanuc Robotics America, Inc. | Robot multi-arm control system |
| JP2007090448A (ja) | 2005-09-27 | 2007-04-12 | Honda Motor Co Ltd | 二次元コード検出装置及びそのプログラム、並びに、ロボット制御情報生成装置及びロボット |
| JP4801534B2 (ja) | 2006-08-30 | 2011-10-26 | 本田技研工業株式会社 | ロボット関節機構 |
| JP4361132B2 (ja) | 2007-07-05 | 2009-11-11 | パナソニック株式会社 | ロボットアームの制御装置及び制御方法、ロボット、及び制御プログラム |
| US7979158B2 (en) * | 2007-07-31 | 2011-07-12 | Rockwell Automation Technologies, Inc. | Blending algorithm for trajectory planning |
| JP2009066685A (ja) | 2007-09-11 | 2009-04-02 | Sony Corp | ロボット装置及びロボット装置の制御方法 |
| JP5448326B2 (ja) | 2007-10-29 | 2014-03-19 | キヤノン株式会社 | 把持装置および把持装置制御方法 |
| JP4249794B1 (ja) | 2007-10-29 | 2009-04-08 | ファナック株式会社 | ワーク搬送用ロボットの制御装置 |
| JP4560658B2 (ja) | 2007-12-10 | 2010-10-13 | 本田技研工業株式会社 | 脚式移動ロボットの制御装置 |
| JP2010105106A (ja) * | 2008-10-29 | 2010-05-13 | Olympus Corp | 生産装置 |
| JP2010240772A (ja) * | 2009-04-06 | 2010-10-28 | Seiko Epson Corp | ロボット制御装置、ロボット制御方法 |
| FR2946160B1 (fr) * | 2009-05-26 | 2014-05-09 | Aldebaran Robotics | Systeme et procede pour editer et commander des comportements d'un robot mobile. |
| KR20110041950A (ko) | 2009-10-16 | 2011-04-22 | 삼성전자주식회사 | 여유자유도 제어를 이용한 로봇의 교시 및 재현 방법 |
| JP5528095B2 (ja) | 2009-12-22 | 2014-06-25 | キヤノン株式会社 | ロボットシステム、その制御装置及び方法 |
| JP5423441B2 (ja) | 2010-02-03 | 2014-02-19 | 株式会社安川電機 | 作業システム、ロボット装置、機械製品の製造方法 |
| KR102015307B1 (ko) * | 2010-12-28 | 2019-08-28 | 삼성전자주식회사 | 로봇 및 그 제어 방법 |
-
2012
- 2012-01-13 US US13/350,179 patent/US8843235B2/en active Active
-
2013
- 2013-01-11 EP EP13151030.7A patent/EP2614936B1/en not_active Not-in-force
- 2013-01-11 JP JP2013003133A patent/JP6185247B2/ja active Active
Also Published As
| Publication number | Publication date |
|---|---|
| EP2614936A3 (en) | 2014-07-23 |
| US8843235B2 (en) | 2014-09-23 |
| JP2013144354A (ja) | 2013-07-25 |
| EP2614936A2 (en) | 2013-07-17 |
| US20130184866A1 (en) | 2013-07-18 |
| EP2614936B1 (en) | 2015-09-16 |
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