JP6651707B2 - ロボット、制御装置、及び制御方法 - Google Patents

ロボット、制御装置、及び制御方法 Download PDF

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Publication number
JP6651707B2
JP6651707B2 JP2015080904A JP2015080904A JP6651707B2 JP 6651707 B2 JP6651707 B2 JP 6651707B2 JP 2015080904 A JP2015080904 A JP 2015080904A JP 2015080904 A JP2015080904 A JP 2015080904A JP 6651707 B2 JP6651707 B2 JP 6651707B2
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JP
Japan
Prior art keywords
operation target
potential
movable
robot
target
Prior art date
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Active
Application number
JP2015080904A
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English (en)
Japanese (ja)
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JP2016198855A (ja
JP2016198855A5 (enExample
Inventor
高志 南本
高志 南本
一弘 小菅
一弘 小菅
アビラシャ サクセナ
アビラシャ サクセナ
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.)
Tohoku University NUC
Seiko Epson Corp
Original Assignee
Tohoku University NUC
Seiko Epson 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.)
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Publication date
Application filed by Tohoku University NUC, Seiko Epson Corp filed Critical Tohoku University NUC
Priority to JP2015080904A priority Critical patent/JP6651707B2/ja
Priority to US15/092,749 priority patent/US9925668B2/en
Publication of JP2016198855A publication Critical patent/JP2016198855A/ja
Publication of JP2016198855A5 publication Critical patent/JP2016198855A5/ja
Application granted granted Critical
Publication of JP6651707B2 publication Critical patent/JP6651707B2/ja
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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—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
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
    • 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
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • G05B2219/39082—Collision, real time collision avoidance
    • 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
    • G05B2219/39084—Parts handling, during assembly
    • 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
    • G05B2219/40583—Detect relative position or orientation between gripper and currently handled object

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2015080904A 2015-04-10 2015-04-10 ロボット、制御装置、及び制御方法 Active JP6651707B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2015080904A JP6651707B2 (ja) 2015-04-10 2015-04-10 ロボット、制御装置、及び制御方法
US15/092,749 US9925668B2 (en) 2015-04-10 2016-04-07 Robot, control unit, and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015080904A JP6651707B2 (ja) 2015-04-10 2015-04-10 ロボット、制御装置、及び制御方法

Publications (3)

Publication Number Publication Date
JP2016198855A JP2016198855A (ja) 2016-12-01
JP2016198855A5 JP2016198855A5 (enExample) 2018-04-05
JP6651707B2 true JP6651707B2 (ja) 2020-02-19

Family

ID=57111214

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015080904A Active JP6651707B2 (ja) 2015-04-10 2015-04-10 ロボット、制御装置、及び制御方法

Country Status (2)

Country Link
US (1) US9925668B2 (enExample)
JP (1) JP6651707B2 (enExample)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7358994B2 (ja) * 2020-01-08 2023-10-11 オムロン株式会社 ロボット制御装置、ロボット制御システム、ロボット制御方法及びロボット制御プログラム
CN116133803A (zh) * 2020-07-31 2023-05-16 发那科株式会社 机器人系统和机器人控制装置
CN112757344B (zh) * 2021-01-20 2022-03-11 清华大学 基于力位状态映射模型的机器人过盈轴孔装配方法和装置
EP4088882A1 (en) * 2021-05-10 2022-11-16 Hilti Aktiengesellschaft Method of manipulating a construction object, construction robot system, and computer program product

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5343385A (en) * 1993-08-17 1994-08-30 International Business Machines Corporation Interference-free insertion of a solid body into a cavity
JP4103057B2 (ja) * 1998-06-29 2008-06-18 株式会社安川電機 ロボットの動作経路計画方法およびその装置
JP2000176868A (ja) * 1998-12-16 2000-06-27 Toyoda Mach Works Ltd ロボット制御装置
JP2002355724A (ja) 2001-05-31 2002-12-10 Ricoh Co Ltd 組立分解工程設計支援装置
JP2003280710A (ja) * 2002-03-20 2003-10-02 Japan Atom Energy Res Inst ロボットハンドの作業軌道の生成と制御方法
JP4917252B2 (ja) * 2004-07-23 2012-04-18 ファナック株式会社 アーク溶接用装置
JP4513663B2 (ja) * 2005-06-15 2010-07-28 富士電機ホールディングス株式会社 自動組立システムにおける組立機構の動作教示方法
JP5121266B2 (ja) 2007-03-15 2013-01-16 心治 篠田 組立ライン編成システム
JP4351281B2 (ja) * 2007-12-13 2009-10-28 ファナック株式会社 ５軸加工機を制御する数値制御装置
CN102216037B (zh) * 2008-11-19 2014-06-18 Abb技术有限公司 用于优化工业机器人的编程移动路径的方法和装置
JP5071361B2 (ja) 2008-12-09 2012-11-14 株式会社安川電機 複腕ロボットの作業プログラム作成方法および複腕ロボット
JP5343609B2 (ja) * 2009-02-19 2013-11-13 富士電機株式会社 動作軌道生成装置、動作軌道生成方法、ロボット制御装置及びロボット制御方法
JP5398488B2 (ja) * 2009-11-20 2014-01-29 村田機械株式会社 自律移動体とその制御方法
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
JP2012011495A (ja) * 2010-06-30 2012-01-19 Yaskawa Electric Corp ロボットの角度データ変換方法及び装置
US8392002B2 (en) * 2010-10-14 2013-03-05 Delta Tau Data Systems, Inc. Hybrid machine control incorporating fast-tool servos
WO2012124342A1 (ja) * 2011-03-17 2012-09-20 パナソニック株式会社 ロボット、ロボットの制御装置、制御方法、及び制御プログラム
JP5744587B2 (ja) * 2011-03-24 2015-07-08 キヤノン株式会社 ロボット制御装置、ロボット制御方法、プログラム及び記録媒体
US9014857B2 (en) * 2012-01-13 2015-04-21 Toyota Motor Engineering & Manufacturing North America, Inc. Methods and computer-program products for generating grasp patterns for use by a robot
JP2013242777A (ja) * 2012-05-22 2013-12-05 Tokyo Univ Of Agriculture & Technology 植物栽培方法と植物栽培システム
JP6131587B2 (ja) * 2012-12-12 2017-05-24 株式会社豊田中央研究所 経路修正装置
JP6443837B2 (ja) * 2014-09-29 2018-12-26 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
DE102014119532B4 (de) * 2014-12-23 2016-11-03 Ferrobotics Compliant Robot Technology Gmbh Robotergestütztes Schleifverfahren und Vorrichtung zum robotergestützten Schleifen

Also Published As

Publication number Publication date
US20160297071A1 (en) 2016-10-13
JP2016198855A (ja) 2016-12-01
US9925668B2 (en) 2018-03-27

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