JP7052840B2 - 位置特定装置、位置特定装置の制御方法、情報処理プログラム、および記録媒体 - Google Patents

位置特定装置、位置特定装置の制御方法、情報処理プログラム、および記録媒体 Download PDF

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Publication number
JP7052840B2
JP7052840B2 JP2020138200A JP2020138200A JP7052840B2 JP 7052840 B2 JP7052840 B2 JP 7052840B2 JP 2020138200 A JP2020138200 A JP 2020138200A JP 2020138200 A JP2020138200 A JP 2020138200A JP 7052840 B2 JP7052840 B2 JP 7052840B2
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Japan
Prior art keywords
detection
time
control system
servo control
target
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JP2020138200A
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English (en)
Japanese (ja)
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JP2022034420A (ja
Inventor
宏次 森野
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Omron Corp
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Omron Corp
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Publication date
Application filed by Omron Corp filed Critical Omron Corp
Priority to JP2020138200A priority Critical patent/JP7052840B2/ja
Priority to CN202110773607.3A priority patent/CN114077247A/zh
Priority to KR1020210091139A priority patent/KR20220022441A/ko
Publication of JP2022034420A publication Critical patent/JP2022034420A/ja
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Publication of JP7052840B2 publication Critical patent/JP7052840B2/ja
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    • 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—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by 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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Control Of Position Or Direction (AREA)
JP2020138200A 2020-08-18 2020-08-18 位置特定装置、位置特定装置の制御方法、情報処理プログラム、および記録媒体 Active JP7052840B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2020138200A JP7052840B2 (ja) 2020-08-18 2020-08-18 位置特定装置、位置特定装置の制御方法、情報処理プログラム、および記録媒体
CN202110773607.3A CN114077247A (zh) 2020-08-18 2021-07-08 位置确定装置、位置确定装置的控制方法以及存储介质
KR1020210091139A KR20220022441A (ko) 2020-08-18 2021-07-12 위치 특정 장치, 위치 특정 장치의 제어 방법, 정보 처리 프로그램, 및 기록 매체

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2020138200A JP7052840B2 (ja) 2020-08-18 2020-08-18 位置特定装置、位置特定装置の制御方法、情報処理プログラム、および記録媒体

Publications (2)

Publication Number Publication Date
JP2022034420A JP2022034420A (ja) 2022-03-03
JP7052840B2 true JP7052840B2 (ja) 2022-04-12

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JP2020138200A Active JP7052840B2 (ja) 2020-08-18 2020-08-18 位置特定装置、位置特定装置の制御方法、情報処理プログラム、および記録媒体

Country Status (3)

Country Link
JP (1) JP7052840B2 (zh)
KR (1) KR20220022441A (zh)
CN (1) CN114077247A (zh)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014076836A1 (ja) 2012-11-19 2014-05-22 富士機械製造株式会社 部品実装機および実装検査機
JP2015035715A (ja) 2013-08-08 2015-02-19 キヤノン株式会社 画像撮像方法及び画像撮像装置
JP2017076169A (ja) 2015-10-13 2017-04-20 キヤノン株式会社 撮像装置、生産システム、撮像方法、プログラム及び記録媒体
JP2017102616A (ja) 2015-11-30 2017-06-08 オムロン株式会社 制御装置、制御方法、制御プログラム
JP2018126838A (ja) 2017-02-10 2018-08-16 株式会社Ｆｕｊｉ 伝送装置及び作業用ロボット
JP2019215635A (ja) 2018-06-11 2019-12-19 オムロン株式会社 制御システム、制御装置、画像処理装置およびプログラム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014076836A1 (ja) 2012-11-19 2014-05-22 富士機械製造株式会社 部品実装機および実装検査機
JP2015035715A (ja) 2013-08-08 2015-02-19 キヤノン株式会社 画像撮像方法及び画像撮像装置
JP2017076169A (ja) 2015-10-13 2017-04-20 キヤノン株式会社 撮像装置、生産システム、撮像方法、プログラム及び記録媒体
JP2017102616A (ja) 2015-11-30 2017-06-08 オムロン株式会社 制御装置、制御方法、制御プログラム
JP2018126838A (ja) 2017-02-10 2018-08-16 株式会社Ｆｕｊｉ 伝送装置及び作業用ロボット
JP2019215635A (ja) 2018-06-11 2019-12-19 オムロン株式会社 制御システム、制御装置、画像処理装置およびプログラム

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KR20220022441A (ko) 2022-02-25
CN114077247A (zh) 2022-02-22
JP2022034420A (ja) 2022-03-03

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