JP7174965B2 - 動的動き調節機構を有するロボットシステム及びそれを動作させる方法 - Google Patents

動的動き調節機構を有するロボットシステム及びそれを動作させる方法 Download PDF

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JP7174965B2
JP7174965B2 JP2021516567A JP2021516567A JP7174965B2 JP 7174965 B2 JP7174965 B2 JP 7174965B2 JP 2021516567 A JP2021516567 A JP 2021516567A JP 2021516567 A JP2021516567 A JP 2021516567A JP 7174965 B2 JP7174965 B2 JP 7174965B2
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waypoints
task
planned
robot
target object
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JP2022511343A (ja
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パンドヤ，アディティ
峻一 野沢
ニコラエフ デアンコウ，ロセン
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Mujin Inc
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Mujin Inc
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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
    • B25J9/1656—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
    • B25J13/00—Controls 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • 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
    • G05B2219/39243—Adaptive trajectory tracking

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
JP2021516567A 2020-01-05 2021-01-04 動的動き調節機構を有するロボットシステム及びそれを動作させる方法 Active JP7174965B2 (ja)

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JP2022123205A JP2022160552A (ja) 2020-01-05 2022-08-02 動的動き調節機構を有するロボットシステム及びそれを動作させる方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202062957282P 2020-01-05 2020-01-05
US62/957,282 2020-01-05
PCT/US2021/012121 WO2021138691A1 (en) 2020-01-05 2021-01-04 Robotic system with dynamic motion adjustment mechanism and methods of operating the same

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JP2022123205A Division JP2022160552A (ja) 2020-01-05 2022-08-02 動的動き調節機構を有するロボットシステム及びそれを動作させる方法

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JP2022511343A JP2022511343A (ja) 2022-01-31
JP7174965B2 true JP7174965B2 (ja) 2022-11-18

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JP2022123205A Pending JP2022160552A (ja) 2020-01-05 2022-08-02 動的動き調節機構を有するロボットシステム及びそれを動作させる方法

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US (2) US11833690B2 (enExample)
JP (2) JP7174965B2 (enExample)
CN (2) CN113561171B (enExample)
WO (1) WO2021138691A1 (enExample)

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WO2021138691A1 (en) * 2020-01-05 2021-07-08 Mujin, Inc. Robotic system with dynamic motion adjustment mechanism and methods of operating the same
LU102362B1 (de) * 2020-12-24 2022-06-27 Andre Stuth Verfahren und Vorrichtungen zur intuitiv-unbewussten Lösungsfindung
WO2023055857A1 (en) * 2021-09-28 2023-04-06 Intrinsic Innovation Llc Online planning satisfying constraints
CN114131615B (zh) * 2021-12-27 2024-08-02 长三角哈特机器人产业技术研究院 基于视觉引导的机器人拆码垛系统及其拆垛和码垛方法
US20250065500A1 (en) * 2021-12-28 2025-02-27 Nec Corporation Control device, robot system, control method, and recording medium
TW202348377A (zh) * 2022-03-11 2023-12-16 美商即時機器人股份有限公司 用於在共享工作空間中之機器人之使用階段姿態之動作規劃及控制
CN117411916B (zh) * 2023-10-26 2024-06-14 中煤科工机器人科技有限公司 一种矿用机器人远程控制系统
CN117817673B (zh) * 2024-03-05 2024-05-03 泓浒(苏州)半导体科技有限公司 晶圆搬运机械臂动态路径调整系统及方法

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JP2009178835A (ja) 2008-02-01 2009-08-13 Denso Wave Inc ロボット制御装置及びロボット制御方法
JP2013013948A (ja) 2011-07-01 2013-01-24 Seiko Epson Corp ロボット、およびロボットの制御方法
JP2015047649A (ja) 2013-08-30 2015-03-16 トヨタ自動車株式会社 ロボット及びその制御方法
WO2016103297A1 (ja) 2014-12-25 2016-06-30 川崎重工業株式会社 アーム型のロボットの障害物自動回避方法及び制御装置
JP6577686B1 (ja) 2019-02-18 2019-09-18 株式会社Ｍｕｊｉｎ 制御装置、作業ロボット、プログラム、及び、制御方法

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JP2010076058A (ja) * 2008-09-26 2010-04-08 Toshiba Corp 多関節型マニピュレータの制御装置及び多関節型マニピュレータの手先動作軌道生成方法
DE102012015437A1 (de) 2012-08-02 2014-05-15 Kuka Roboter Gmbh Verfahren und Programmiermittel zur Modifikation einer Roboterbahn
US9221175B2 (en) 2013-03-28 2015-12-29 Denso Wave Incorporated Method of generating path of multiaxial robot and control apparatus for the multiaxial robot
KR102165437B1 (ko) 2014-05-02 2020-10-14 한화디펜스 주식회사 이동 로봇의 경로 계획 장치
JP6455019B2 (ja) * 2014-08-21 2019-01-23 株式会社デンソーウェーブ ロボットの制御装置及び制御方法
CN108602187A (zh) * 2015-09-09 2018-09-28 碳机器人公司 机械臂系统和物体躲避方法
EP3403146A4 (en) * 2016-01-15 2019-08-21 iRobot Corporation AUTONOMOUS MONITORING ROBOT SYSTEMS
US10035266B1 (en) 2016-01-18 2018-07-31 X Development Llc Generating robot trajectories using a real time trajectory generator and a path optimizer
JP6783064B2 (ja) * 2016-03-31 2020-11-11 株式会社小松製作所 作業機械の管理システム及び作業機械の管理方法
US10040196B2 (en) * 2016-07-07 2018-08-07 Technologies Holding Corp. System and method for in-flight robotic arm retargeting
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JP6939104B2 (ja) * 2017-06-09 2021-09-22 セイコーエプソン株式会社 制御装置、ロボットシステムおよびロボット制御方法
CN108724189B (zh) 2018-06-22 2020-10-30 金蝶软件（中国）有限公司 控制机器人移动的方法、装置、机器人控制设备
EP3587042B1 (en) * 2018-06-25 2025-10-22 Siemens Aktiengesellschaft Method, apparatus and system for determining a trajectory of a robot's end effector
JP6508691B1 (ja) 2018-10-15 2019-05-08 株式会社Ｍｕｊｉｎ 制御装置、作業ロボット、プログラム、及び、制御方法
JP7028196B2 (ja) * 2019-01-15 2022-03-02 オムロン株式会社 ロボット制御装置、ロボット制御方法、及びロボット制御プログラム
US20210197377A1 (en) * 2019-12-26 2021-07-01 X Development Llc Robot plan online adjustment
WO2021138691A1 (en) * 2020-01-05 2021-07-08 Mujin, Inc. Robotic system with dynamic motion adjustment mechanism and methods of operating the same

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009178835A (ja) 2008-02-01 2009-08-13 Denso Wave Inc ロボット制御装置及びロボット制御方法
JP2013013948A (ja) 2011-07-01 2013-01-24 Seiko Epson Corp ロボット、およびロボットの制御方法
JP2015047649A (ja) 2013-08-30 2015-03-16 トヨタ自動車株式会社 ロボット及びその制御方法
WO2016103297A1 (ja) 2014-12-25 2016-06-30 川崎重工業株式会社 アーム型のロボットの障害物自動回避方法及び制御装置
JP6577686B1 (ja) 2019-02-18 2019-09-18 株式会社Ｍｕｊｉｎ 制御装置、作業ロボット、プログラム、及び、制御方法

Also Published As

Publication number Publication date
CN113365787A (zh) 2021-09-07
JP2022511343A (ja) 2022-01-31
CN113561171B (zh) 2023-03-24
JP2022160552A (ja) 2022-10-19
WO2021138691A1 (en) 2021-07-08
CN113561171A (zh) 2021-10-29
US20210205992A1 (en) 2021-07-08
US11833690B2 (en) 2023-12-05
US20240131708A1 (en) 2024-04-25

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