JP7097722B2 - 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
JP7097722B2
JP7097722B2 JP2018052120A JP2018052120A JP7097722B2 JP 7097722 B2 JP7097722 B2 JP 7097722B2 JP 2018052120 A JP2018052120 A JP 2018052120A JP 2018052120 A JP2018052120 A JP 2018052120A JP 7097722 B2 JP7097722 B2 JP 7097722B2
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Japan
Prior art keywords
robot
hand
origin
predetermined position
teaching data
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Active
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JP2018052120A
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English (en)
Japanese (ja)
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JP2019162692A (ja
JP2019162692A5 (ko
Inventor
淳 尾辻
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Nidec Instruments Corp
Original Assignee
Nidec Sankyo Corp
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Publication date
Application filed by Nidec Sankyo Corp filed Critical Nidec Sankyo Corp
Priority to JP2018052120A priority Critical patent/JP7097722B2/ja
Priority to KR1020190026589A priority patent/KR102243694B1/ko
Priority to CN201910188347.6A priority patent/CN110303505B/zh
Publication of JP2019162692A publication Critical patent/JP2019162692A/ja
Publication of JP2019162692A5 publication Critical patent/JP2019162692A5/ja
Application granted granted Critical
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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
    • B25J9/02—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
    • B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
    • 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
    • B25J9/1656—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
    • 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)
JP2018052120A 2018-03-20 2018-03-20 ロボットの位置情報復元方法 Active JP7097722B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2018052120A JP7097722B2 (ja) 2018-03-20 2018-03-20 ロボットの位置情報復元方法
KR1020190026589A KR102243694B1 (ko) 2018-03-20 2019-03-08 로봇의 위치 정보 복원 방법
CN201910188347.6A CN110303505B (zh) 2018-03-20 2019-03-13 机器人的位置信息恢复方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018052120A JP7097722B2 (ja) 2018-03-20 2018-03-20 ロボットの位置情報復元方法

Publications (3)

Publication Number Publication Date
JP2019162692A JP2019162692A (ja) 2019-09-26
JP2019162692A5 JP2019162692A5 (ko) 2021-04-08
JP7097722B2 true JP7097722B2 (ja) 2022-07-08

Family

ID=68064433

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018052120A Active JP7097722B2 (ja) 2018-03-20 2018-03-20 ロボットの位置情報復元方法

Country Status (3)

Country Link
JP (1) JP7097722B2 (ko)
KR (1) KR102243694B1 (ko)
CN (1) CN110303505B (ko)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110815177B (zh) * 2019-10-29 2022-08-16 中科新松有限公司 一种复合机器人2d视觉引导示教的迁移方法
CN110900602B (zh) * 2019-11-26 2021-01-19 苏州博众机器人有限公司 一种定位恢复方法、装置、机器人及存储介质
JP7512743B2 (ja) * 2020-07-30 2024-07-09 セイコーエプソン株式会社 教示方法およびロボットシステム

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008141098A (ja) 2006-12-05 2008-06-19 Dainippon Screen Mfg Co Ltd 基板搬送装置の検査装置および基板処理装置
JP2016043424A (ja) 2014-08-20 2016-04-04 株式会社安川電機 ロボットシステムおよびロボット教示方法

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
JPS61274886A (ja) * 1985-05-30 1986-12-05 松下電器産業株式会社 産業用ロボツト
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
JP2000071187A (ja) * 1998-08-27 2000-03-07 Komatsu Ltd ワーク搬送ロボット
JP3733364B2 (ja) * 2003-11-18 2006-01-11 ファナック株式会社 教示位置修正方法
JP2006110705A (ja) 2004-09-15 2006-04-27 Yaskawa Electric Corp ロボットのキャリブレーション方法
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
US8185242B2 (en) * 2008-05-07 2012-05-22 Lam Research Corporation Dynamic alignment of wafers using compensation values obtained through a series of wafer movements
DE112009001863A5 (de) * 2008-08-01 2011-11-24 Ulvac, Inc. Einlernverfahren für einen Überführungsroboter
JP2010284728A (ja) * 2009-06-09 2010-12-24 Kawasaki Heavy Ind Ltd 搬送ロボット及び自動教示方法
JP6110636B2 (ja) * 2012-08-09 2017-04-05 日本電産サンキョー株式会社 産業用ロボット
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
JP6764868B2 (ja) * 2015-04-20 2020-10-07 株式会社ワコム スタイラスとスタイラスセンサコントローラとの間の双方向通信に供されるシステムおよび方法
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 (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008141098A (ja) 2006-12-05 2008-06-19 Dainippon Screen Mfg Co Ltd 基板搬送装置の検査装置および基板処理装置
JP2016043424A (ja) 2014-08-20 2016-04-04 株式会社安川電機 ロボットシステムおよびロボット教示方法

Also Published As

Publication number Publication date
KR20190110438A (ko) 2019-09-30
JP2019162692A (ja) 2019-09-26
KR102243694B1 (ko) 2021-04-23
CN110303505B (zh) 2022-07-01
CN110303505A (zh) 2019-10-08

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