JP7325656B2 - ロボットの衝突検知装置 - Google Patents

ロボットの衝突検知装置 Download PDF

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Publication number
JP7325656B2
JP7325656B2 JP2022554978A JP2022554978A JP7325656B2 JP 7325656 B2 JP7325656 B2 JP 7325656B2 JP 2022554978 A JP2022554978 A JP 2022554978A JP 2022554978 A JP2022554978 A JP 2022554978A JP 7325656 B2 JP7325656 B2 JP 7325656B2
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Japan
Prior art keywords
robot
calculation means
torque
threshold
estimation error
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JP2022554978A
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Japanese (ja)
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JPWO2022074703A1 (https=
JPWO2022074703A5 (https=
Inventor
清石 前川
暁生 斎藤
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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
    • B25J9/1628—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
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • G05B2219/40201—Detect contact, collision with human

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2022554978A 2020-10-05 2020-10-05 ロボットの衝突検知装置 Active JP7325656B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/037680 WO2022074703A1 (ja) 2020-10-05 2020-10-05 ロボットの衝突検知装置

Publications (3)

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JPWO2022074703A1 JPWO2022074703A1 (https=) 2022-04-14
JPWO2022074703A5 JPWO2022074703A5 (https=) 2022-12-21
JP7325656B2 true JP7325656B2 (ja) 2023-08-14

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JP2022554978A Active JP7325656B2 (ja) 2020-10-05 2020-10-05 ロボットの衝突検知装置

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JP (1) JP7325656B2 (https=)
CN (1) CN116018244B (https=)
DE (1) DE112020007659T5 (https=)
WO (1) WO2022074703A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI764377B (zh) * 2020-11-16 2022-05-11 達明機器人股份有限公司 機器人安全補償重量的系統及方法
JP7398024B1 (ja) 2023-07-04 2023-12-13 株式会社ユーシン精機 衝突検知方法及び衝突検知システム

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107253196A (zh) 2017-08-01 2017-10-17 中科新松有限公司 一种机械臂碰撞检测方法、装置、设备及存储介质

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4055090B2 (ja) * 1997-07-08 2008-03-05 株式会社安川電機 ロボットの制御装置
JP3878054B2 (ja) * 2001-05-08 2007-02-07 三菱電機株式会社 ロボット制御装置
JP4223911B2 (ja) * 2003-09-25 2009-02-12 株式会社神戸製鋼所 衝突検知方法及び衝突検知装置
JP5902425B2 (ja) * 2011-09-21 2016-04-13 株式会社東芝 ロボット制御装置、外乱判定方法およびアクチュエータ制御方法
JP2014018941A (ja) * 2012-07-23 2014-02-03 Daihen Corp 制御装置、及び制御方法
FR3002048B1 (fr) 2013-02-14 2016-07-01 Commissariat Energie Atomique Procede de detection amelioree de collision d'un robot avec son environnement, systeme et produit programme d'ordinateur mettant en œuvre le procede
EP3351356B1 (en) * 2015-09-16 2020-11-18 Panasonic Intellectual Property Management Co., Ltd. Robot collision detection method
CN106826819B (zh) * 2017-01-15 2019-07-30 上海新时达电气股份有限公司 桁架机器人防碰撞检测方法及装置
JP6572265B2 (ja) * 2017-06-30 2019-09-04 ファナック株式会社 制御装置及び機械学習装置
JP7105646B2 (ja) * 2018-08-02 2022-07-25 株式会社神戸製鋼所 ロボット制御装置、ロボット制御方法及びプログラム

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107253196A (zh) 2017-08-01 2017-10-17 中科新松有限公司 一种机械臂碰撞检测方法、装置、设备及存储介质

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JPWO2022074703A1 (https=) 2022-04-14
DE112020007659T5 (de) 2023-08-03
WO2022074703A1 (ja) 2022-04-14
CN116018244A (zh) 2023-04-25
CN116018244B (zh) 2025-08-05

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