JP7187765B2 - ロボット制御装置 - Google Patents

ロボット制御装置 Download PDF

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Publication number
JP7187765B2
JP7187765B2 JP2017142450A JP2017142450A JP7187765B2 JP 7187765 B2 JP7187765 B2 JP 7187765B2 JP 2017142450 A JP2017142450 A JP 2017142450A JP 2017142450 A JP2017142450 A JP 2017142450A JP 7187765 B2 JP7187765 B2 JP 7187765B2
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JP
Japan
Prior art keywords
robot
point
information
arm
virtual
Prior art date
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Active
Application number
JP2017142450A
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English (en)
Japanese (ja)
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JP2019022916A (ja
JP2019022916A5 (enExample
Inventor
泰裕 下平
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
Original Assignee
Seiko Epson Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2017142450A priority Critical patent/JP7187765B2/ja
Priority to US16/041,972 priority patent/US20190022864A1/en
Publication of JP2019022916A publication Critical patent/JP2019022916A/ja
Publication of JP2019022916A5 publication Critical patent/JP2019022916A5/ja
Application granted granted Critical
Publication of JP7187765B2 publication Critical patent/JP7187765B2/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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration 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
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2017142450A 2017-07-24 2017-07-24 ロボット制御装置 Active JP7187765B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2017142450A JP7187765B2 (ja) 2017-07-24 2017-07-24 ロボット制御装置
US16/041,972 US20190022864A1 (en) 2017-07-24 2018-07-23 Robot control device, robot system, and simulation device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017142450A JP7187765B2 (ja) 2017-07-24 2017-07-24 ロボット制御装置

Publications (3)

Publication Number Publication Date
JP2019022916A JP2019022916A (ja) 2019-02-14
JP2019022916A5 JP2019022916A5 (enExample) 2020-08-13
JP7187765B2 true JP7187765B2 (ja) 2022-12-13

Family

ID=65014672

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017142450A Active JP7187765B2 (ja) 2017-07-24 2017-07-24 ロボット制御装置

Country Status (2)

Country Link
US (1) US20190022864A1 (enExample)
JP (1) JP7187765B2 (enExample)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10319109B2 (en) * 2017-03-31 2019-06-11 Honda Motor Co., Ltd. Interaction with physical objects as proxy objects representing virtual objects
JP7127513B2 (ja) * 2018-11-30 2022-08-30 トヨタ自動車株式会社 センサシステムおよびロボットハンド
US11262887B2 (en) * 2019-09-13 2022-03-01 Toyota Research Institute, Inc. Methods and systems for assigning force vectors to robotic tasks
KR20210040613A (ko) 2019-10-04 2021-04-14 삼성전자주식회사 전자 장치 및 그의 제어 방법
CN112264996B (zh) * 2020-10-16 2022-06-14 中冶赛迪上海工程技术有限公司 一种抓钢机定位控制方法及系统
JP7567408B2 (ja) * 2020-11-30 2024-10-16 セイコーエプソン株式会社 プログラム作成支援方法、プログラム作成支援装置、プログラム作成支援プログラム及び記憶媒体

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012137421A (ja) 2010-12-27 2012-07-19 Fanuc Ltd ３軸力センサを用いて力制御をおこなうロボットの制御装置
JP2013013987A (ja) 2011-07-06 2013-01-24 Canon Inc ロボットシステム
JP2014144522A (ja) 2013-01-30 2014-08-14 Seiko Epson Corp 制御装置、制御方法、ロボット及びロボットシステム
JP2016179523A (ja) 2015-03-24 2016-10-13 セイコーエプソン株式会社 ロボット制御装置およびロボットシステム
JP2017001122A (ja) 2015-06-08 2017-01-05 ファナック株式会社 ロボットと力の表示機能を備えたロボット制御装置
JP2017052049A (ja) 2015-09-09 2017-03-16 ファナック株式会社 物体の姿勢算出システム

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6284991A (ja) * 1985-10-09 1987-04-18 株式会社日立製作所 力センサによる重量，重心位置算出方法
JP2915478B2 (ja) * 1990-03-30 1999-07-05 株式会社東芝 マスタスレーブマニピュレータ
JPH05169381A (ja) * 1991-12-17 1993-07-09 Fujitsu Ltd 力制御型ロボット装置及びその制御方法
KR101064516B1 (ko) * 2009-08-06 2011-09-15 한국과학기술연구원 순외력 측정을 위한 힘 센서 검출 신호 보정 방법

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012137421A (ja) 2010-12-27 2012-07-19 Fanuc Ltd ３軸力センサを用いて力制御をおこなうロボットの制御装置
JP2013013987A (ja) 2011-07-06 2013-01-24 Canon Inc ロボットシステム
JP2014144522A (ja) 2013-01-30 2014-08-14 Seiko Epson Corp 制御装置、制御方法、ロボット及びロボットシステム
JP2016179523A (ja) 2015-03-24 2016-10-13 セイコーエプソン株式会社 ロボット制御装置およびロボットシステム
JP2017001122A (ja) 2015-06-08 2017-01-05 ファナック株式会社 ロボットと力の表示機能を備えたロボット制御装置
JP2017052049A (ja) 2015-09-09 2017-03-16 ファナック株式会社 物体の姿勢算出システム

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Publication number Publication date
JP2019022916A (ja) 2019-02-14
US20190022864A1 (en) 2019-01-24

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