JP7080068B2 - ロボットの位置情報復元方法 - Google Patents

ロボットの位置情報復元方法 Download PDF

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Publication number
JP7080068B2
JP7080068B2 JP2018025566A JP2018025566A JP7080068B2 JP 7080068 B2 JP7080068 B2 JP 7080068B2 JP 2018025566 A JP2018025566 A JP 2018025566A JP 2018025566 A JP2018025566 A JP 2018025566A JP 7080068 B2 JP7080068 B2 JP 7080068B2
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Japan
Prior art keywords
robot
deviation amount
predetermined position
hand
exchange
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JP2018025566A
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English (en)
Japanese (ja)
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JP2019141918A (ja
Inventor
淳 尾辻
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.)
Nidec Sankyo Corp
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Nidec Sankyo Corp
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Priority to JP2018025566A priority Critical patent/JP7080068B2/ja
Priority to KR1020190012561A priority patent/KR102225139B1/ko
Priority to CN201910116445.9A priority patent/CN110154038B/zh
Publication of JP2019141918A publication Critical patent/JP2019141918A/ja
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Publication of JP7080068B2 publication Critical patent/JP7080068B2/ja
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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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • 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
    • B25J9/1697—Vision controlled 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—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
JP2018025566A 2018-02-16 2018-02-16 ロボットの位置情報復元方法 Active JP7080068B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2018025566A JP7080068B2 (ja) 2018-02-16 2018-02-16 ロボットの位置情報復元方法
KR1020190012561A KR102225139B1 (ko) 2018-02-16 2019-01-31 로봇의 위치 정보 복원 방법
CN201910116445.9A CN110154038B (zh) 2018-02-16 2019-02-15 机器人的位置信息恢复方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018025566A JP7080068B2 (ja) 2018-02-16 2018-02-16 ロボットの位置情報復元方法

Publications (2)

Publication Number Publication Date
JP2019141918A JP2019141918A (ja) 2019-08-29
JP7080068B2 true JP7080068B2 (ja) 2022-06-03

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Family Applications (1)

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JP2018025566A Active JP7080068B2 (ja) 2018-02-16 2018-02-16 ロボットの位置情報復元方法

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JP (1) JP7080068B2 (ko)
KR (1) KR102225139B1 (ko)
CN (1) CN110154038B (ko)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113182667A (zh) * 2021-04-28 2021-07-30 蔚来汽车科技(安徽)有限公司 车体顶盖的安装定位控制方法、装置、控制器和存储介质
KR102426456B1 (ko) * 2022-06-20 2022-07-29 주식회사 씨디알시스템 협동 로봇을 위한 티칭 방법 및 기기
CN116619395B (zh) * 2023-07-26 2023-12-22 深圳优艾智合机器人科技有限公司 一种机械臂的控制方法、移动机器人及存储介质

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005149299A (ja) 2003-11-18 2005-06-09 Fanuc Ltd 教示位置修正装置
US20070150100A1 (en) 2005-11-18 2007-06-28 Strasbaugh Robot calibration system and method
JP2012040637A (ja) 2010-08-18 2012-03-01 Iai:Kk 制御装置、産業用ロボット、座標系の再現方法、及びプログラム
JP2013035054A (ja) 2011-08-10 2013-02-21 Daihen Corp 溶接ロボット制御装置
JP2014034107A (ja) 2012-08-09 2014-02-24 Nidec Sankyo Corp 産業用ロボットの原点位置復帰方法および産業用ロボット
JP2015199192A (ja) 2014-03-31 2015-11-12 キヤノン株式会社 ロボットシステムの制御方法、プログラム、記録媒体、及びロボットシステム
JP2017007026A (ja) 2015-06-22 2017-01-12 日産自動車株式会社 位置補正システム

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4819957B1 (ko) 1970-03-31 1973-06-18
JPH0778683B2 (ja) * 1985-09-13 1995-08-23 沖電気工業株式会社 多関節ロボツトの機械原点位置補正方法
JPH074781B2 (ja) * 1986-07-23 1995-01-25 株式会社日立製作所 ロボツトの治具の姿勢再現方法
JPH04306705A (ja) * 1991-04-03 1992-10-29 Seiko Epson Corp キャリブレーション方法
JP2625606B2 (ja) * 1992-05-19 1997-07-02 富士通株式会社 多関節アーム式搬送装置及びその調整方法
JPH1080883A (ja) * 1996-09-04 1998-03-31 Nikon Corp 搬送方法、搬送装置及び露光装置
JP4849804B2 (ja) * 2004-09-28 2012-01-11 日本電産サンキョー株式会社 ロボットの作動方法
JP4308222B2 (ja) * 2005-05-27 2009-08-05 パナソニック株式会社 情報通知装置および情報通知方法
TWI398335B (zh) 2006-11-27 2013-06-11 Nidec Sankyo Corp Workpiece conveying system
CN101524842A (zh) * 2009-01-09 2009-09-09 成都广泰实业有限公司 工业机器人校准方法
KR20110022023A (ko) * 2011-02-15 2011-03-04 주식회사 아토 기판 이송 로봇 및 이를 갖는 기판 처리 시스템 그리고, 이의 티칭 방법
JP2015032617A (ja) * 2013-07-31 2015-02-16 株式会社ダイヘン 搬送ロボットの教示データ補正方法、および搬送システム
JP6499826B2 (ja) * 2014-01-29 2019-04-10 日本電産サンキョー株式会社 産業用ロボット
CN111913606B (zh) * 2015-04-20 2024-06-14 株式会社和冠 传感器控制器、主机处理器、通信方法和系统
JP6453918B2 (ja) 2016-05-31 2019-01-16 ファナック株式会社 ロボット制御装置およびロボット制御方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005149299A (ja) 2003-11-18 2005-06-09 Fanuc Ltd 教示位置修正装置
US20070150100A1 (en) 2005-11-18 2007-06-28 Strasbaugh Robot calibration system and method
JP2012040637A (ja) 2010-08-18 2012-03-01 Iai:Kk 制御装置、産業用ロボット、座標系の再現方法、及びプログラム
JP2013035054A (ja) 2011-08-10 2013-02-21 Daihen Corp 溶接ロボット制御装置
JP2014034107A (ja) 2012-08-09 2014-02-24 Nidec Sankyo Corp 産業用ロボットの原点位置復帰方法および産業用ロボット
JP2015199192A (ja) 2014-03-31 2015-11-12 キヤノン株式会社 ロボットシステムの制御方法、プログラム、記録媒体、及びロボットシステム
JP2017007026A (ja) 2015-06-22 2017-01-12 日産自動車株式会社 位置補正システム

Also Published As

Publication number Publication date
KR20190099122A (ko) 2019-08-26
CN110154038B (zh) 2022-06-07
JP2019141918A (ja) 2019-08-29
CN110154038A (zh) 2019-08-23
KR102225139B1 (ko) 2021-03-09

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