JP6690213B2 - ロボット、制御装置およびロボットシステム - Google Patents

ロボット、制御装置およびロボットシステム Download PDF

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Publication number
JP6690213B2
JP6690213B2 JP2015239954A JP2015239954A JP6690213B2 JP 6690213 B2 JP6690213 B2 JP 6690213B2 JP 2015239954 A JP2015239954 A JP 2015239954A JP 2015239954 A JP2015239954 A JP 2015239954A JP 6690213 B2 JP6690213 B2 JP 6690213B2
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Japan
Prior art keywords
circuit
sensor
signal
position sensor
arm
Prior art date
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Expired - Fee Related
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JP2015239954A
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English (en)
Japanese (ja)
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JP2017104930A (ja
JP2017104930A5 (enExample
Inventor
佐藤　大輔
大輔 佐藤
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Seiko Epson Corp
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Seiko Epson Corp
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Priority to JP2015239954A priority Critical patent/JP6690213B2/ja
Priority to US15/372,733 priority patent/US10300605B2/en
Publication of JP2017104930A publication Critical patent/JP2017104930A/ja
Publication of JP2017104930A5 publication Critical patent/JP2017104930A5/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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34242—For measurement only

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
JP2015239954A 2015-12-09 2015-12-09 ロボット、制御装置およびロボットシステム Expired - Fee Related JP6690213B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2015239954A JP6690213B2 (ja) 2015-12-09 2015-12-09 ロボット、制御装置およびロボットシステム
US15/372,733 US10300605B2 (en) 2015-12-09 2016-12-08 Robot, controller, and robot system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015239954A JP6690213B2 (ja) 2015-12-09 2015-12-09 ロボット、制御装置およびロボットシステム

Publications (3)

Publication Number Publication Date
JP2017104930A JP2017104930A (ja) 2017-06-15
JP2017104930A5 JP2017104930A5 (enExample) 2018-12-27
JP6690213B2 true JP6690213B2 (ja) 2020-04-28

Family

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Family Applications (1)

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JP2015239954A Expired - Fee Related JP6690213B2 (ja) 2015-12-09 2015-12-09 ロボット、制御装置およびロボットシステム

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Country Link
US (1) US10300605B2 (enExample)
JP (1) JP6690213B2 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12162145B2 (en) 2021-11-17 2024-12-10 Kawasaki Jukogyo Kabushiki Kaisha Substrate conveying robot and substrate conveying robot system

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DE102015224641A1 (de) * 2015-12-08 2017-06-08 Kuka Roboter Gmbh Verfahren zum Erkennen einer Kollision eines Roboterarms mit einem Objekt und Roboter mit einem Roboterarm
WO2019139815A1 (en) 2018-01-12 2019-07-18 Duke University Apparatus, method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects
TWI822729B (zh) 2018-02-06 2023-11-21 美商即時機器人股份有限公司 用於儲存一離散環境於一或多個處理器之一機器人之運動規劃及其改良操作之方法及設備
ES2928250T3 (es) * 2018-03-21 2022-11-16 Realtime Robotics Inc Planificación del movimiento de un robot para diversos entornos y tareas y mejora del funcionamiento del mismo
EP3820656A4 (en) 2018-08-23 2021-08-25 Realtime Robotics, Inc. COLLISION DETECTION FOR MOTION PLANNING OF ROBOTS
EP3617520B1 (de) * 2018-08-31 2021-05-26 Pfeiffer Vacuum Gmbh Vakuumgerät, zubehöreinheit und system
CN109262615A (zh) * 2018-11-09 2019-01-25 杭州海灵智电科技有限公司 一种机器人的控制系统
CN113227927A (zh) 2018-12-04 2021-08-06 杜克大学 在具有动态对象环境中促进运动规划的设备、方法和物体
CN113905855B (zh) 2019-04-17 2023-08-25 实时机器人有限公司 运动规划图生成用户界面、系统、方法和规则
TWI873149B (zh) 2019-06-24 2025-02-21 美商即時機器人股份有限公司 用於多個機械手臂於共用工作空間中之移動規劃系統及方法
CN115297999A (zh) 2020-03-18 2022-11-04 实时机器人有限公司 在机器人的运动规划中有用的机器人操作环境的数字表示
CN115298000B (zh) * 2020-03-18 2025-07-11 发那科株式会社 具备力传感器的旋转轴构造和机器人
JP7518908B2 (ja) * 2020-09-03 2024-07-18 川崎重工業株式会社 基板保持ハンドおよび基板搬送ロボット
KR102712892B1 (ko) * 2020-09-03 2024-10-02 가와사끼 쥬고교 가부시끼 가이샤 기판 반송 로봇 시스템

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12162145B2 (en) 2021-11-17 2024-12-10 Kawasaki Jukogyo Kabushiki Kaisha Substrate conveying robot and substrate conveying robot system

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US20170165838A1 (en) 2017-06-15
JP2017104930A (ja) 2017-06-15
US10300605B2 (en) 2019-05-28

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