JP7067107B2 - ロボット制御装置及びロボットシステム - Google Patents

ロボット制御装置及びロボットシステム Download PDF

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Publication number
JP7067107B2
JP7067107B2 JP2018026570A JP2018026570A JP7067107B2 JP 7067107 B2 JP7067107 B2 JP 7067107B2 JP 2018026570 A JP2018026570 A JP 2018026570A JP 2018026570 A JP2018026570 A JP 2018026570A JP 7067107 B2 JP7067107 B2 JP 7067107B2
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Japan
Prior art keywords
robot
force
control
integrator
display
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JP2018026570A
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English (en)
Japanese (ja)
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JP2019141937A (ja
JP2019141937A5 (enExample
Inventor
馨 竹内
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
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Seiko Epson Corp
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Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2018026570A priority Critical patent/JP7067107B2/ja
Priority to US16/278,455 priority patent/US11185993B2/en
Publication of JP2019141937A publication Critical patent/JP2019141937A/ja
Publication of JP2019141937A5 publication Critical patent/JP2019141937A5/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • 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
    • 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
    • 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
    • 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
    • G05B19/409—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 using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • 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
    • G05B2219/39001—Robot, manipulator control
    • 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
    • G05B2219/39319—Force control, force as reference, active compliance

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)
JP2018026570A 2018-02-19 2018-02-19 ロボット制御装置及びロボットシステム Active JP7067107B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2018026570A JP7067107B2 (ja) 2018-02-19 2018-02-19 ロボット制御装置及びロボットシステム
US16/278,455 US11185993B2 (en) 2018-02-19 2019-02-18 Robot control device and robot system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018026570A JP7067107B2 (ja) 2018-02-19 2018-02-19 ロボット制御装置及びロボットシステム

Publications (3)

Publication Number Publication Date
JP2019141937A JP2019141937A (ja) 2019-08-29
JP2019141937A5 JP2019141937A5 (enExample) 2021-03-18
JP7067107B2 true JP7067107B2 (ja) 2022-05-16

Family

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JP2018026570A Active JP7067107B2 (ja) 2018-02-19 2018-02-19 ロボット制御装置及びロボットシステム

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US (1) US11185993B2 (enExample)
JP (1) JP7067107B2 (enExample)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7087632B2 (ja) * 2018-04-26 2022-06-21 セイコーエプソン株式会社 ロボット制御装置
US11691283B2 (en) * 2020-05-27 2023-07-04 Intrinsic Innovation Llc Robot control parameter interpolation
US20220134557A1 (en) * 2020-10-30 2022-05-05 Sintokogio, Ltd. Control device, robot control system, program, and control method
JP7687178B2 (ja) * 2020-10-30 2025-06-03 新東工業株式会社 制御装置、ロボット制御システム、プログラム、および制御方法
US20220206481A1 (en) * 2020-12-31 2022-06-30 Schneider Electric Systems Usa, Inc. Systems and methods for benchmarking operator performance for an industrial operation
JP7666223B2 (ja) 2021-08-18 2025-04-22 新東工業株式会社 自動塗布装置、及び自動塗布方法
DE112021007828T5 (de) * 2021-08-27 2024-03-28 Fanuc Corporation Lehrgerät
US12151379B2 (en) * 2021-12-06 2024-11-26 Fanuc Corporation Method of robot dynamic motion planning and control
JP2023129112A (ja) 2022-03-04 2023-09-14 新東工業株式会社 ロボット、及び、その制御方法
JP2023147725A (ja) * 2022-03-30 2023-10-13 セイコーエプソン株式会社 ロボット制御装置、ロボット制御方法およびロボット制御プログラム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007237312A (ja) 2006-03-07 2007-09-20 Fanuc Ltd 制御装置
JP2012176478A (ja) 2011-02-28 2012-09-13 Ihi Corp 加工ロボットの軌道追従装置と方法
JP2014086074A (ja) 2012-10-18 2014-05-12 Samsung Electro-Mechanics Co Ltd モータの制御装置及びモータの制御方法
JP2017030059A (ja) 2015-07-29 2017-02-09 セイコーエプソン株式会社 ロボット制御装置、ロボットおよびロボットシステム

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Publication number Priority date Publication date Assignee Title
JPH02247705A (ja) * 1989-03-20 1990-10-03 Fujitsu Ltd 力制御方式
JP3322826B2 (ja) * 1997-08-13 2002-09-09 ファナック株式会社 サーボモータによる加圧制御方法及び装置
EP1724676A1 (en) * 2005-05-20 2006-11-22 ABB Research Ltd. Method and apparatus for developing a software program
JP2008188722A (ja) * 2007-02-06 2008-08-21 Fanuc Ltd ロボット制御装置
EP2749974A2 (en) * 2012-12-28 2014-07-02 Kabushiki Kaisha Yaskawa Denki Robot teaching system, robot teaching assistant device, and robot teaching method
US9278449B1 (en) * 2014-05-21 2016-03-08 Bot & Dolly, Llc Closed-loop control system for robotic operation
CN106239516B (zh) * 2015-06-03 2021-09-24 精工爱普生株式会社 机器人控制装置、机器人以及机器人系统
JP6591818B2 (ja) * 2015-07-30 2019-10-16 ファナック株式会社 産業用ロボットシステムおよびその制御方法
JP6400749B2 (ja) * 2017-01-24 2018-10-03 ファナック株式会社 力制御押付装置を備えたロボットシステム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007237312A (ja) 2006-03-07 2007-09-20 Fanuc Ltd 制御装置
JP2012176478A (ja) 2011-02-28 2012-09-13 Ihi Corp 加工ロボットの軌道追従装置と方法
JP2014086074A (ja) 2012-10-18 2014-05-12 Samsung Electro-Mechanics Co Ltd モータの制御装置及びモータの制御方法
JP2017030059A (ja) 2015-07-29 2017-02-09 セイコーエプソン株式会社 ロボット制御装置、ロボットおよびロボットシステム

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Publication number Publication date
US11185993B2 (en) 2021-11-30
JP2019141937A (ja) 2019-08-29
US20190255712A1 (en) 2019-08-22

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