JP7313564B2 - ロボット制御装置、ロボット制御方法、およびロボット制御プログラム - Google Patents

ロボット制御装置、ロボット制御方法、およびロボット制御プログラム Download PDF

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JP7313564B2
JP7313564B2 JP2022534555A JP2022534555A JP7313564B2 JP 7313564 B2 JP7313564 B2 JP 7313564B2 JP 2022534555 A JP2022534555 A JP 2022534555A JP 2022534555 A JP2022534555 A JP 2022534555A JP 7313564 B2 JP7313564 B2 JP 7313564B2
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motion
command
axis
robot
time
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JPWO2022009333A5 (https=
JPWO2022009333A1 (https=
Inventor
七星 春尾
清石 前川
浩司 白土
卓矢 岡原
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B25J9/1602—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • G05B2219/40476—Collision, planning for collision free path

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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)
JP2022534555A 2020-07-08 2020-07-08 ロボット制御装置、ロボット制御方法、およびロボット制御プログラム Active JP7313564B2 (ja)

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Application Number Priority Date Filing Date Title
PCT/JP2020/026686 WO2022009333A1 (ja) 2020-07-08 2020-07-08 ロボット制御装置、ロボット制御方法、およびロボット制御プログラム

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JPWO2022009333A1 JPWO2022009333A1 (https=) 2022-01-13
JPWO2022009333A5 JPWO2022009333A5 (https=) 2022-11-07
JP7313564B2 true JP7313564B2 (ja) 2023-07-24

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US (1) US12214505B2 (https=)
JP (1) JP7313564B2 (https=)
CN (1) CN115702064B (https=)
DE (1) DE112020007414B4 (https=)
WO (1) WO2022009333A1 (https=)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112023000819T5 (de) * 2022-02-04 2024-11-28 Mitsubishi Electric Corporation Weggenerierungsvorrichtung
JP7726365B2 (ja) * 2022-02-22 2025-08-20 三菱電機株式会社 ロボット制御装置およびロボット制御方法
CN114740857A (zh) * 2022-04-14 2022-07-12 国家能源集团乐东发电有限公司 一种基于强化学习的四足机器人运动控制方法及系统
JP2025035653A (ja) * 2023-09-04 2025-03-14 Ｎｅｃプラットフォームズ株式会社 命令学習装置、命令学習方法およびプログラム

Citations (4)

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JP2009172721A (ja) 2008-01-25 2009-08-06 Mitsubishi Electric Corp ロボット軌道制御装置及びロボット軌道制御方法
JP2014161918A (ja) 2013-02-21 2014-09-08 Seiko Epson Corp ロボット制御システム、ロボット、ロボット制御方法及びプログラム
JP2015160253A (ja) 2014-02-26 2015-09-07 キヤノン株式会社 軌道生成方法、ロボット装置、プログラム及び記録媒体
JP2019135076A (ja) 2018-02-05 2019-08-15 キヤノン株式会社 軌道生成方法および軌道生成装置

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JP2010046751A (ja) 2008-08-21 2010-03-04 Kobe Steel Ltd 多関節ロボットの移動経路算出方法及びロボットシステム
JP5724919B2 (ja) * 2012-03-22 2015-05-27 トヨタ自動車株式会社 軌道生成装置、移動体、軌道生成方法及びプログラム
JP5868266B2 (ja) * 2012-05-30 2016-02-24 株式会社神戸製鋼所 多関節ロボットの弾性変形補償制御装置および制御方法
JP2014024162A (ja) * 2012-07-27 2014-02-06 Seiko Epson Corp ロボットシステム、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
JP5980042B2 (ja) * 2012-08-16 2016-08-31 キヤノン株式会社 搬送装置の制御方法及び搬送システム
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
DE102015009815A1 (de) * 2015-07-28 2017-02-02 Kuka Roboter Gmbh Verfahren zum Steuern eines mobilen redundanten Roboters
JP6396273B2 (ja) * 2015-10-14 2018-09-26 ファナック株式会社 ワークとの干渉を避ける位置決めを行う数値制御装置
US9981381B1 (en) * 2016-06-08 2018-05-29 X Development Llc Real time generation of phase synchronized trajectories
DE102017213651A1 (de) 2017-08-07 2019-02-07 Robert Bosch Gmbh Handhabungseinrichtung mit einem Roboter sowie Verfahren und Computerprogramm
JP7170181B2 (ja) * 2017-09-04 2022-11-14 パナソニックＩｐマネジメント株式会社 ロボット制御装置
US11458626B2 (en) * 2018-02-05 2022-10-04 Canon Kabushiki Kaisha Trajectory generating method, and trajectory generating apparatus
JP7126366B2 (ja) * 2018-03-28 2022-08-26 セコム株式会社 移動制御システム
JP7126222B2 (ja) * 2018-05-10 2022-08-26 パナソニックＩｐマネジメント株式会社 ロボット制御装置
JP6826076B2 (ja) 2018-07-17 2021-02-03 ファナック株式会社 自動経路生成装置
JP6823015B2 (ja) 2018-07-17 2021-01-27 ファナック株式会社 ロボットシステム
JP6825026B2 (ja) 2019-03-12 2021-02-03 キヤノン株式会社 情報処理装置、情報処理方法及びロボットシステム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009172721A (ja) 2008-01-25 2009-08-06 Mitsubishi Electric Corp ロボット軌道制御装置及びロボット軌道制御方法
JP2014161918A (ja) 2013-02-21 2014-09-08 Seiko Epson Corp ロボット制御システム、ロボット、ロボット制御方法及びプログラム
JP2015160253A (ja) 2014-02-26 2015-09-07 キヤノン株式会社 軌道生成方法、ロボット装置、プログラム及び記録媒体
JP2019135076A (ja) 2018-02-05 2019-08-15 キヤノン株式会社 軌道生成方法および軌道生成装置

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Publication number Publication date
JPWO2022009333A1 (https=) 2022-01-13
US12214505B2 (en) 2025-02-04
WO2022009333A1 (ja) 2022-01-13
DE112020007414T5 (de) 2023-05-11
DE112020007414B4 (de) 2024-08-14
US20230226691A1 (en) 2023-07-20
CN115702064B (zh) 2025-10-10
CN115702064A (zh) 2023-02-14

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