JP6904201B2 - ロボット制御装置、ロボット、及びロボットシステム - Google Patents

ロボット制御装置、ロボット、及びロボットシステム Download PDF

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Publication number
JP6904201B2
JP6904201B2 JP2017186230A JP2017186230A JP6904201B2 JP 6904201 B2 JP6904201 B2 JP 6904201B2 JP 2017186230 A JP2017186230 A JP 2017186230A JP 2017186230 A JP2017186230 A JP 2017186230A JP 6904201 B2 JP6904201 B2 JP 6904201B2
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JP
Japan
Prior art keywords
unit
control device
robot
robot control
power
Prior art date
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.)
Active
Application number
JP2017186230A
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English (en)
Japanese (ja)
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JP2019058989A (ja
JP2019058989A5 (https=
Inventor
武馬 山崎
武馬 山崎
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.)
Seiko Epson Corp
Original Assignee
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.)
Filing date
Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2017186230A priority Critical patent/JP6904201B2/ja
Priority to US16/140,729 priority patent/US11305438B2/en
Priority to CN201811122009.4A priority patent/CN109551460B/zh
Publication of JP2019058989A publication Critical patent/JP2019058989A/ja
Publication of JP2019058989A5 publication Critical patent/JP2019058989A5/ja
Application granted granted Critical
Publication of JP6904201B2 publication Critical patent/JP6904201B2/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
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
    • 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
    • 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
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/02—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for suppression of electromagnetic interference
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from AC input or output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor
    • H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor by short-circuit or resistive braking
    • 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
    • G05B2219/45083—Manipulators, robot
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from AC input or output
    • H02M1/126—Arrangements for reducing harmonics from AC input or output using passive filters

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
  • Control Of Electric Motors In General (AREA)
JP2017186230A 2017-09-27 2017-09-27 ロボット制御装置、ロボット、及びロボットシステム Active JP6904201B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2017186230A JP6904201B2 (ja) 2017-09-27 2017-09-27 ロボット制御装置、ロボット、及びロボットシステム
US16/140,729 US11305438B2 (en) 2017-09-27 2018-09-25 Robot control device, robot, and robot system
CN201811122009.4A CN109551460B (zh) 2017-09-27 2018-09-26 机器人控制装置、机器人以及机器人系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017186230A JP6904201B2 (ja) 2017-09-27 2017-09-27 ロボット制御装置、ロボット、及びロボットシステム

Publications (3)

Publication Number Publication Date
JP2019058989A JP2019058989A (ja) 2019-04-18
JP2019058989A5 JP2019058989A5 (https=) 2020-08-27
JP6904201B2 true JP6904201B2 (ja) 2021-07-14

Family

ID=65808545

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017186230A Active JP6904201B2 (ja) 2017-09-27 2017-09-27 ロボット制御装置、ロボット、及びロボットシステム

Country Status (3)

Country Link
US (1) US11305438B2 (https=)
JP (1) JP6904201B2 (https=)
CN (1) CN109551460B (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4275252A4 (en) * 2021-01-08 2024-07-10 Kinova Inc. SIGNAL TRANSMISSION DEVICE FOR ARTICULATED MECHANISM

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3991352A (en) * 1975-06-19 1976-11-09 Westinghouse Electric Corporation Apparatus and method for reducing effective inductance in a dynamic braking circuit
JP2856253B2 (ja) * 1988-06-02 1999-02-10 株式会社明電舎 ロボット用ブレーキ制御装置
JPH1177573A (ja) * 1997-09-02 1999-03-23 Denso Corp ロボット制御装置
EP1899192B1 (en) * 2005-06-22 2019-09-11 Continental Automotive Systems, Inc. Power generation system suitable for hybrid electric vehicles
FR2920611B1 (fr) * 2007-09-04 2012-05-18 Alstom Transport Sa Dispositif de freinage electrique securitaire avec moteur a aimants permanents et regulation du couple de freinage.
JP4361116B2 (ja) * 2008-01-09 2009-11-11 ファナック株式会社 ダイナミックブレーキ回路故障検出機能を備えたモータ駆動装置
KR101220367B1 (ko) * 2010-08-31 2013-01-09 현대자동차주식회사 플러그인 하이브리드 자동차의 충전장치 및 방법
JP2013099210A (ja) * 2011-11-04 2013-05-20 Juki Corp モータ制御装置及びモータ制御方法
JP5923822B2 (ja) * 2012-02-09 2016-05-25 ミネベア株式会社 ブラシレスモータの駆動制御装置
JP5421405B2 (ja) * 2012-02-28 2014-02-19 ファナック株式会社 ダイナミックブレーキ制御手段を備えるモータ駆動装置
JP5998548B2 (ja) * 2012-03-14 2016-09-28 富士電機株式会社 電力変換装置
JP5997953B2 (ja) * 2012-07-11 2016-09-28 ミネベア株式会社 モータの駆動制御装置
JP5552564B1 (ja) * 2013-09-24 2014-07-16 川崎重工業株式会社 多軸ロボットの動力遮断装置及び多軸ロボット
JP5653570B1 (ja) * 2014-03-07 2015-01-14 三菱電機株式会社 ブレーキ付電動機
US20150349626A1 (en) * 2014-05-30 2015-12-03 Hamilton Sundstrand Corporation Output filter for paralleled inverter
JP6488632B2 (ja) * 2014-10-22 2019-03-27 セイコーエプソン株式会社 ロボット
DE102014222678A1 (de) * 2014-11-06 2016-05-12 Kuka Roboter Gmbh Verfahren und System zum Stillsetzen von Achsen eines Industrieroboters
JP6536319B2 (ja) * 2015-09-25 2019-07-03 株式会社デンソーウェーブ ロボットシステム
JP6285477B2 (ja) * 2016-02-26 2018-02-28 ファナック株式会社 ダイナミックブレーキ回路保護機能を有するモータ駆動装置
JP2018182778A (ja) * 2017-04-03 2018-11-15 ファナック株式会社 モータ駆動装置

Also Published As

Publication number Publication date
US20190091881A1 (en) 2019-03-28
CN109551460B (zh) 2023-06-06
CN109551460A (zh) 2019-04-02
US11305438B2 (en) 2022-04-19
JP2019058989A (ja) 2019-04-18

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