JP6188440B2 - ロボット装置及びロボット制御方法 - Google Patents

ロボット装置及びロボット制御方法 Download PDF

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Publication number
JP6188440B2
JP6188440B2 JP2013126680A JP2013126680A JP6188440B2 JP 6188440 B2 JP6188440 B2 JP 6188440B2 JP 2013126680 A JP2013126680 A JP 2013126680A JP 2013126680 A JP2013126680 A JP 2013126680A JP 6188440 B2 JP6188440 B2 JP 6188440B2
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Prior art keywords
camera
robot
robot body
trajectory
end effector
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Japanese (ja)
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JP2015000454A5 (enExample
JP2015000454A (ja
Inventor
林　禎
禎 林
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Canon Inc
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Canon Inc
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Application filed by Canon Inc filed Critical Canon Inc
Priority to JP2013126680A priority Critical patent/JP6188440B2/ja
Priority to US14/296,030 priority patent/US9393696B2/en
Priority to CN201410259247.5A priority patent/CN104227722B/zh
Publication of JP2015000454A publication Critical patent/JP2015000454A/ja
Publication of JP2015000454A5 publication Critical patent/JP2015000454A5/ja
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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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
    • B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
    • B05C11/1018—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to distance of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
    • B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
    • 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
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
JP2013126680A 2013-06-17 2013-06-17 ロボット装置及びロボット制御方法 Active JP6188440B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2013126680A JP6188440B2 (ja) 2013-06-17 2013-06-17 ロボット装置及びロボット制御方法
US14/296,030 US9393696B2 (en) 2013-06-17 2014-06-04 Robot system and robot control method
CN201410259247.5A CN104227722B (zh) 2013-06-17 2014-06-12 机器人系统与机器人控制方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2013126680A JP6188440B2 (ja) 2013-06-17 2013-06-17 ロボット装置及びロボット制御方法

Publications (3)

Publication Number Publication Date
JP2015000454A JP2015000454A (ja) 2015-01-05
JP2015000454A5 JP2015000454A5 (enExample) 2016-07-28
JP6188440B2 true JP6188440B2 (ja) 2017-08-30

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Family Applications (1)

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JP2013126680A Active JP6188440B2 (ja) 2013-06-17 2013-06-17 ロボット装置及びロボット制御方法

Country Status (3)

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US (1) US9393696B2 (enExample)
JP (1) JP6188440B2 (enExample)
CN (1) CN104227722B (enExample)

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CN108527319B (zh) * 2018-03-28 2024-02-13 广州瑞松北斗汽车装备有限公司 基于视觉系统的机器人示教方法及系统
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DE102018114646B4 (de) * 2018-06-19 2025-10-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Sensorhalterung für einen Robotermanipulator
CN109309791B (zh) * 2018-11-09 2021-01-29 珠海格力智能装备有限公司 控制相机拍照方法和系统
JP6878391B2 (ja) * 2018-12-18 2021-05-26 ファナック株式会社 ロボットシステムとその調整方法
CN109919976B (zh) * 2019-02-25 2023-01-17 太仓中科信息技术研究院 基于摄像机器人的场景自动化复用方法、设备和存储介质
JP6717401B1 (ja) * 2019-04-01 2020-07-01 株式会社安川電機 プログラミング支援装置、ロボットシステム及びプログラミング支援方法
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Publication number Publication date
US20140371910A1 (en) 2014-12-18
CN104227722B (zh) 2017-05-31
CN104227722A (zh) 2014-12-24
JP2015000454A (ja) 2015-01-05
US9393696B2 (en) 2016-07-19

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