JP6904759B2 - ロボットの移動速度制御装置及び方法 - Google Patents
ロボットの移動速度制御装置及び方法 Download PDFInfo
- Publication number
- JP6904759B2 JP6904759B2 JP2017078179A JP2017078179A JP6904759B2 JP 6904759 B2 JP6904759 B2 JP 6904759B2 JP 2017078179 A JP2017078179 A JP 2017078179A JP 2017078179 A JP2017078179 A JP 2017078179A JP 6904759 B2 JP6904759 B2 JP 6904759B2
- Authority
- JP
- Japan
- Prior art keywords
- robot
- tip
- arm
- limit value
- moving speed
- 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
Links
- 238000000034 method Methods 0.000 title claims description 37
- 230000001174 ascending effect Effects 0.000 claims 1
- 230000008569 process Effects 0.000 description 15
- 238000004364 calculation method Methods 0.000 description 12
- 238000013459 approach Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000012886 linear function Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- 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
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- 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
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017078179A JP6904759B2 (ja) | 2017-04-11 | 2017-04-11 | ロボットの移動速度制御装置及び方法 |
KR1020180032973A KR102033241B1 (ko) | 2017-04-11 | 2018-03-22 | 로봇의 이동 속도 제어 장치 및 방법 |
CN201810245956.6A CN108687758B (zh) | 2017-04-11 | 2018-03-23 | 机器人的移动速度控制装置及方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017078179A JP6904759B2 (ja) | 2017-04-11 | 2017-04-11 | ロボットの移動速度制御装置及び方法 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2018176341A JP2018176341A (ja) | 2018-11-15 |
JP2018176341A5 JP2018176341A5 (enrdf_load_stackoverflow) | 2020-04-16 |
JP6904759B2 true JP6904759B2 (ja) | 2021-07-21 |
Family
ID=63844580
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017078179A Active JP6904759B2 (ja) | 2017-04-11 | 2017-04-11 | ロボットの移動速度制御装置及び方法 |
Country Status (3)
Country | Link |
---|---|
JP (1) | JP6904759B2 (enrdf_load_stackoverflow) |
KR (1) | KR102033241B1 (enrdf_load_stackoverflow) |
CN (1) | CN108687758B (enrdf_load_stackoverflow) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7311971B2 (ja) * | 2019-01-11 | 2023-07-20 | 株式会社Fuji | ロボット制御装置及びロボット制御方法 |
CN111482982B (zh) * | 2020-05-07 | 2021-12-21 | 宁波奥克斯电气股份有限公司 | 一种夹持机构及夹持机构的控制方法 |
KR20220088823A (ko) | 2020-12-20 | 2022-06-28 | 정현재 | 이물질 제거가 용이한 청소용 솔 |
CN113116528B (zh) * | 2021-04-15 | 2022-05-17 | 哈尔滨思哲睿智能医疗设备有限公司 | 一种腹腔镜手术机器人的滑台运动控制方法及装置 |
CN113771031B (zh) * | 2021-09-07 | 2023-11-28 | 苏州艾利特机器人有限公司 | 一种机器人自适应调速方法及多关节机器人 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05233052A (ja) | 1992-02-20 | 1993-09-10 | Tokico Ltd | ロボットの教示装置 |
JPH0691587A (ja) | 1992-09-08 | 1994-04-05 | Amada Co Ltd | 産業用ロボットの非常停止方法および装置 |
JPH09193060A (ja) * | 1996-01-16 | 1997-07-29 | Honda Motor Co Ltd | ティーチング時のロボットの移動速度制御装置 |
JP4060393B2 (ja) * | 1996-01-24 | 2008-03-12 | 三菱電機株式会社 | ロボットの速度演算装置、およびロボットの速度演算方法 |
US6216058B1 (en) * | 1999-05-28 | 2001-04-10 | Brooks Automation, Inc. | System of trajectory planning for robotic manipulators based on pre-defined time-optimum trajectory shapes |
JP2002127060A (ja) * | 2000-10-23 | 2002-05-08 | Matsushita Electric Ind Co Ltd | ロボット装置 |
US7391178B2 (en) | 2002-07-18 | 2008-06-24 | Kabushiki Kaisha Yaskawa Denki | Robot controller and robot system |
WO2009072383A1 (ja) * | 2007-12-07 | 2009-06-11 | Kabushiki Kaisha Yaskawa Denki | ロボット動作規制方法並びにロボットシステム及びロボット動作規制装置 |
JP5970880B2 (ja) * | 2012-03-15 | 2016-08-17 | オムロン株式会社 | 動力源の制御装置 |
JP6238628B2 (ja) * | 2013-08-06 | 2017-11-29 | キヤノン株式会社 | ロボット装置、ロボット制御方法、ロボット制御プログラム及びロボット装置を用いた部品の製造方法 |
JP6360301B2 (ja) * | 2013-12-25 | 2018-07-18 | 川崎重工業株式会社 | 動作プログラム作成方法およびロボットの制御方法 |
TWI592265B (zh) * | 2014-06-25 | 2017-07-21 | Hiwin Tech Corp | Safety control method of mechanical arm |
JP6476635B2 (ja) * | 2014-08-01 | 2019-03-06 | 株式会社デンソーウェーブ | ロボットの制御装置及び制御方法 |
CN104440954B (zh) * | 2014-10-30 | 2016-01-20 | 青岛立邦达机器人系统有限公司 | 一种搬运机器人防碰撞安全保护系统 |
JP2016159367A (ja) * | 2015-02-26 | 2016-09-05 | ファナック株式会社 | ロボットの動作モードを自動的に切替えるロボット制御装置 |
CN105437235A (zh) * | 2016-01-25 | 2016-03-30 | 珠海格力电器股份有限公司 | 一种奇异点区域减速保护方法、系统和工业机器人 |
-
2017
- 2017-04-11 JP JP2017078179A patent/JP6904759B2/ja active Active
-
2018
- 2018-03-22 KR KR1020180032973A patent/KR102033241B1/ko active Active
- 2018-03-23 CN CN201810245956.6A patent/CN108687758B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
KR20180114837A (ko) | 2018-10-19 |
JP2018176341A (ja) | 2018-11-15 |
CN108687758B (zh) | 2022-04-05 |
KR102033241B1 (ko) | 2019-10-16 |
CN108687758A (zh) | 2018-10-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6904759B2 (ja) | ロボットの移動速度制御装置及び方法 | |
EP1644782B1 (en) | Multiple robot arm tracking and mirror jog | |
US10870199B2 (en) | Robot system and robot teaching method | |
JP6238628B2 (ja) | ロボット装置、ロボット制御方法、ロボット制御プログラム及びロボット装置を用いた部品の製造方法 | |
CN103492133B (zh) | 具有运动冗余臂的工业机器人和用于控制该机器人的方法 | |
JP3923053B2 (ja) | ロボット教示装置 | |
JP5547626B2 (ja) | 7軸多関節ロボットの制御装置および教示方法 | |
US10315305B2 (en) | Robot control apparatus which displays operation program including state of additional axis | |
JP5346217B2 (ja) | 多軸ロボット及びその速度制御装置 | |
JPH09265313A (ja) | ロボットの速度演算装置、およびロボットの速度演算方法 | |
US12138786B2 (en) | Teaching device, teaching method, and recording medium | |
EP3083160A1 (en) | Device for dynamic switching of robot control points | |
US12240124B2 (en) | Moving along a predetermined path with a robot | |
JP6429977B2 (ja) | ロボット装置及びロボット制御方法 | |
JP7502439B2 (ja) | ロボット制御装置 | |
JP2022049897A (ja) | ロボットの制御方法およびロボットシステム | |
JP7661714B2 (ja) | 教示装置、教示方法および教示プログラム | |
US20230286142A1 (en) | Robot teaching control method, robot teaching apparatus, and robot system | |
JP7424097B2 (ja) | ロボットの制御装置及びロボットの制御方法 | |
JPH0573118A (ja) | ロボツト制御装置 | |
JPH0962322A (ja) | 多軸ロボットの制御装置及びその制御方法 | |
JPH0957671A (ja) | 多関節型移動体の制御装置及びその制御方法 | |
JP2025120953A (ja) | ロボットの動作を制御する装置及び方法、動作プログラムを生成する装置及び方法、コンピュータプログラム、並びに動作プログラム | |
JPH0550388A (ja) | 工業用ロボツト |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200304 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20200304 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20210120 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210126 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210323 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20210608 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20210624 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6904759 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |