JP7155660B2 - ロボット制御装置およびロボットシステム - Google Patents

ロボット制御装置およびロボットシステム Download PDF

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Publication number
JP7155660B2
JP7155660B2 JP2018120987A JP2018120987A JP7155660B2 JP 7155660 B2 JP7155660 B2 JP 7155660B2 JP 2018120987 A JP2018120987 A JP 2018120987A JP 2018120987 A JP2018120987 A JP 2018120987A JP 7155660 B2 JP7155660 B2 JP 7155660B2
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Japan
Prior art keywords
robot
person
arm
laser light
robot arm
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JP2018120987A
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English (en)
Japanese (ja)
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JP2020001109A (ja
JP2020001109A5 (https=
Inventor
宏貞 堀口
修一 若林
真希子 日野
圭 鎌倉
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Seiko Epson Corp
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Seiko Epson Corp
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Publication date
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Priority to JP2018120987A priority Critical patent/JP7155660B2/ja
Priority to US16/451,121 priority patent/US11235469B2/en
Priority to CN201910556292.XA priority patent/CN110640749B/zh
Publication of JP2020001109A publication Critical patent/JP2020001109A/ja
Publication of JP2020001109A5 publication Critical patent/JP2020001109A5/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • B25J9/1694—Program 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
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/047—Accessories, e.g. for positioning, for tool-setting, for measuring probes
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40202—Human robot coexistence

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Optics & Photonics (AREA)
  • Multimedia (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
JP2018120987A 2018-06-26 2018-06-26 ロボット制御装置およびロボットシステム Active JP7155660B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2018120987A JP7155660B2 (ja) 2018-06-26 2018-06-26 ロボット制御装置およびロボットシステム
US16/451,121 US11235469B2 (en) 2018-06-26 2019-06-25 Robot controller and robot system
CN201910556292.XA CN110640749B (zh) 2018-06-26 2019-06-25 机器人控制装置以及机器人系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018120987A JP7155660B2 (ja) 2018-06-26 2018-06-26 ロボット制御装置およびロボットシステム

Publications (3)

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JP2020001109A JP2020001109A (ja) 2020-01-09
JP2020001109A5 JP2020001109A5 (https=) 2021-07-26
JP7155660B2 true JP7155660B2 (ja) 2022-10-19

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JP2018120987A Active JP7155660B2 (ja) 2018-06-26 2018-06-26 ロボット制御装置およびロボットシステム

Country Status (3)

Country Link
US (1) US11235469B2 (https=)
JP (1) JP7155660B2 (https=)
CN (1) CN110640749B (https=)

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JP7135495B2 (ja) * 2018-06-26 2022-09-13 セイコーエプソン株式会社 三次元計測装置、制御装置およびロボットシステム
JP7207010B2 (ja) * 2019-02-27 2023-01-18 セイコーエプソン株式会社 ロボットシステム及びその制御方法
US12275134B2 (en) * 2020-02-12 2025-04-15 Fanuc Corporation Robot system
JP6713700B1 (ja) 2020-03-09 2020-06-24 リンクウィズ株式会社 情報処理方法、情報処理システム、プログラム
JP7707478B2 (ja) * 2020-05-12 2025-07-15 ソレマルテック エス．エー． 作業デバイス
JP6849262B1 (ja) * 2020-05-28 2021-03-24 リンクウィズ株式会社 情報処理方法、情報処理システム、プログラム
JP7630947B2 (ja) * 2020-10-05 2025-02-18 キヤノン株式会社 ３次元計測装置、システム、及び、生産方法
US20240083031A1 (en) * 2021-02-04 2024-03-14 Abb Schweiz Ag Method of Controlling Mechanical Impedance of Robot, Control System and Robot
EP4295107B1 (en) 2021-02-17 2025-01-29 Renishaw PLC Metrology apparatus and corresponding operating method
US12538008B2 (en) * 2021-08-30 2026-01-27 Nec Corporation Determination device, identification method and recording medium
KR102690062B1 (ko) * 2021-12-20 2024-07-31 네이버 주식회사 로봇 친화형 건물, 로봇의 작업 제어 방법 및 시스템
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Publication number Publication date
US20190389065A1 (en) 2019-12-26
CN110640749B (zh) 2022-11-22
CN110640749A (zh) 2020-01-03
JP2020001109A (ja) 2020-01-09
US11235469B2 (en) 2022-02-01

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