JP6951523B1 - 生産システム、セルコントローラ、ロボットコントローラ及び制御方法 - Google Patents

生産システム、セルコントローラ、ロボットコントローラ及び制御方法 Download PDF

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Publication number
JP6951523B1
JP6951523B1 JP2020140303A JP2020140303A JP6951523B1 JP 6951523 B1 JP6951523 B1 JP 6951523B1 JP 2020140303 A JP2020140303 A JP 2020140303A JP 2020140303 A JP2020140303 A JP 2020140303A JP 6951523 B1 JP6951523 B1 JP 6951523B1
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Japan
Prior art keywords
task
unit
virtual
execution
robot
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English (en)
Japanese (ja)
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JP2021193543A (ja
Inventor
橋口　幸男
幸男 橋口
佳史 斧山
佳史 斧山
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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Publication date
Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Priority to EP21822136.4A priority Critical patent/EP4144491A4/en
Priority to PCT/JP2021/021758 priority patent/WO2021251385A1/ja
Priority to CN202180039869.5A priority patent/CN115697649A/zh
Priority to JP2021155461A priority patent/JP7494155B2/ja
Application granted granted Critical
Publication of JP6951523B1 publication Critical patent/JP6951523B1/ja
Publication of JP2021193543A publication Critical patent/JP2021193543A/ja
Priority to US18/062,019 priority patent/US20230099602A1/en
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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
    • B25J9/1679—Program controls characterised by the tasks executed
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Program controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Program controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41835—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by program execution
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
    • 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
    • G05B2219/32—Operator till task planning
    • G05B2219/32297—Adaptive scheduling, feedback of actual proces progress to adapt schedule
    • 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
    • G05B2219/39102—Manipulator cooperating with conveyor
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Factory Administration (AREA)
  • Manipulator (AREA)
JP2020140303A 2020-06-08 2020-08-21 生産システム、セルコントローラ、ロボットコントローラ及び制御方法 Active JP6951523B1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP21822136.4A EP4144491A4 (en) 2020-06-08 2021-06-08 PRODUCTION SYSTEM, CELL CONTROL, ROBOT CONTROL AND CONTROL METHODS
PCT/JP2021/021758 WO2021251385A1 (ja) 2020-06-08 2021-06-08 生産システム、セルコントローラ、ロボットコントローラ及び制御方法
CN202180039869.5A CN115697649A (zh) 2020-06-08 2021-06-08 生产系统、单元控制器、机器人控制器以及控制方法
JP2021155461A JP7494155B2 (ja) 2020-06-08 2021-09-24 生産システム、セルコントローラ、ロボットコントローラ及び制御方法
US18/062,019 US20230099602A1 (en) 2020-06-08 2022-12-06 Device control based on execution command and updated environment information

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US202063035829P 2020-06-08 2020-06-08
US63/035,829 2020-06-08
US202063046701P 2020-07-01 2020-07-01
US63/046,701 2020-07-01

Related Child Applications (1)

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JP2021155461A Division JP7494155B2 (ja) 2020-06-08 2021-09-24 生産システム、セルコントローラ、ロボットコントローラ及び制御方法

Publications (2)

Publication Number Publication Date
JP6951523B1 true JP6951523B1 (ja) 2021-10-20
JP2021193543A JP2021193543A (ja) 2021-12-23

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JP2020140303A Active JP6951523B1 (ja) 2020-06-08 2020-08-21 生産システム、セルコントローラ、ロボットコントローラ及び制御方法
JP2021155461A Active JP7494155B2 (ja) 2020-06-08 2021-09-24 生産システム、セルコントローラ、ロボットコントローラ及び制御方法

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Country Status (5)

Country Link
US (1) US20230099602A1 (https=)
EP (1) EP4144491A4 (https=)
JP (2) JP6951523B1 (https=)
CN (1) CN115697649A (https=)
WO (1) WO2021251385A1 (https=)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7456165B2 (ja) * 2020-01-16 2024-03-27 オムロン株式会社 制御装置
EP4241917A4 (en) * 2020-11-06 2024-08-07 DMG Mori Co., Ltd. TOOL TRANSPORT SYSTEM, CONTROL METHOD FOR TOOL TRANSPORT SYSTEM AND CONTROL PROGRAM FOR TOOL TRANSPORT SYSTEM
US11755003B2 (en) * 2021-09-30 2023-09-12 Hitachi, Ltd. Autonomous task management industrial robot
US12468998B2 (en) * 2021-11-12 2025-11-11 Starbucks Corporation System for configuring an environment based on modifications to simulated virtual environments
JPWO2024261874A1 (https=) * 2023-06-20 2024-12-26
JPWO2025009610A1 (https=) * 2023-07-05 2025-01-09

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02257204A (ja) * 1989-03-29 1990-10-18 Yaskawa Electric Mfg Co Ltd 複数ロボット腕の衝突回避制御方式
JPH06301412A (ja) * 1993-04-14 1994-10-28 Citizen Watch Co Ltd ロボットセル用制御装置
JP2817580B2 (ja) * 1993-07-27 1998-10-30 日本鋼管株式会社 ロボット群の制御システム
JP4210270B2 (ja) * 2005-06-07 2009-01-14 ファナック株式会社 ロボット制御装置及びロボット制御方法
JP4465012B2 (ja) * 2008-01-31 2010-05-19 ファナック株式会社 搬入／搬出ロボットと協調動作する加工ラインシステム
US9440352B2 (en) * 2012-08-31 2016-09-13 Qualcomm Technologies Inc. Apparatus and methods for robotic learning
JP2018097661A (ja) * 2016-12-14 2018-06-21 オムロン株式会社 生産システム、制御装置、および制御方法
JP6811635B2 (ja) * 2017-02-10 2021-01-13 川崎重工業株式会社 ロボットシステム及びその制御方法
JP6724831B2 (ja) 2017-03-16 2020-07-15 株式会社安川電機 コントロールシステム、コントローラ及び制御方法

Also Published As

Publication number Publication date
JP2021192949A (ja) 2021-12-23
WO2021251385A1 (ja) 2021-12-16
EP4144491A1 (en) 2023-03-08
JP7494155B2 (ja) 2024-06-03
EP4144491A4 (en) 2024-11-27
CN115697649A (zh) 2023-02-03
US20230099602A1 (en) 2023-03-30
JP2021193543A (ja) 2021-12-23

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