JP7357808B2 - 干渉チェック装置 - Google Patents

干渉チェック装置 Download PDF

Info

Publication number
JP7357808B2
JP7357808B2 JP2022557236A JP2022557236A JP7357808B2 JP 7357808 B2 JP7357808 B2 JP 7357808B2 JP 2022557236 A JP2022557236 A JP 2022557236A JP 2022557236 A JP2022557236 A JP 2022557236A JP 7357808 B2 JP7357808 B2 JP 7357808B2
Authority
JP
Japan
Prior art keywords
interference
robot
motion
section
hand
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
JP2022557236A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2022079764A1 (fr
Inventor
清石 前川
七星 春尾
卓矢 岡原
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.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric 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.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of JPWO2022079764A1 publication Critical patent/JPWO2022079764A1/ja
Application granted granted Critical
Publication of JP7357808B2 publication Critical patent/JP7357808B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B25J9/1676—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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • 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
    • G05B2219/39091—Avoid collision with moving obstacles
    • 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
    • G05B2219/39185—ANN as compensator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
JP2022557236A 2020-10-12 2020-10-12 干渉チェック装置 Active JP7357808B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/038482 WO2022079764A1 (fr) 2020-10-12 2020-10-12 Dispositif de contrôle d'interférence

Publications (2)

Publication Number Publication Date
JPWO2022079764A1 JPWO2022079764A1 (fr) 2022-04-21
JP7357808B2 true JP7357808B2 (ja) 2023-10-06

Family

ID=81207782

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022557236A Active JP7357808B2 (ja) 2020-10-12 2020-10-12 干渉チェック装置

Country Status (4)

Country Link
JP (1) JP7357808B2 (fr)
CN (1) CN116056845A (fr)
DE (1) DE112020007676T5 (fr)
WO (1) WO2022079764A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018092860A1 (fr) 2016-11-16 2018-05-24 三菱電機株式会社 Dispositif d'évitement d'interférences
JP2020040132A (ja) 2018-09-06 2020-03-19 株式会社東芝 ハンド制御装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07223181A (ja) * 1994-02-09 1995-08-22 Yaskawa Electric Corp マニピュレータの干渉チェック装置
JP2875498B2 (ja) * 1995-07-18 1999-03-31 株式会社神戸製鋼所 ロボットマニピュレータの移動経路の自動生成方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018092860A1 (fr) 2016-11-16 2018-05-24 三菱電機株式会社 Dispositif d'évitement d'interférences
JP2020040132A (ja) 2018-09-06 2020-03-19 株式会社東芝 ハンド制御装置

Also Published As

Publication number Publication date
DE112020007676T5 (de) 2023-08-03
CN116056845A (zh) 2023-05-02
JPWO2022079764A1 (fr) 2022-04-21
WO2022079764A1 (fr) 2022-04-21

Similar Documents

Publication Publication Date Title
CN112091979B (zh) 一种基于位置级逆运动学的七自由度机械臂限位优化方法
US8825209B2 (en) Method and apparatus to plan motion path of robot
US9411335B2 (en) Method and apparatus to plan motion path of robot
JP5044991B2 (ja) 経路作成装置及び経路作成方法
US9044862B2 (en) Path planning apparatus and method for robot
US8290620B2 (en) Route creation method and route creation device
US11433537B2 (en) Automatic path generation device
US20140031982A1 (en) Robotic system and robot control device
JP4942672B2 (ja) ロボット軌道制御装置及びロボット軌道制御方法
JP5659890B2 (ja) ロボットの軌道計画システム及び軌道計画方法
JP7237447B2 (ja) 情報処理方法、プログラム、記録媒体、情報処理装置、ロボットシステム、および物品の製造方法
CN114137951A (zh) 一种联机机器人运动规划的框架
JP2020093364A (ja) 軌道生成装置
JP2006048372A (ja) 経路計画方法
JP7210201B2 (ja) 情報処理方法、プログラム、記録媒体、情報処理装置、ロボットシステム、物品の製造方法
CN110355753B (zh) 机器人控制装置、机器人控制方法和存储介质
JP7357808B2 (ja) 干渉チェック装置
JP5447811B2 (ja) 経路計画生成装置および該方法ならびにロボット制御装置およびロボットシステム
JP7060700B2 (ja) コーディネートシステム、ハンドリング装置及び方法
JPH01289684A (ja) ロボットの自律近接制御装置
WO2023276238A1 (fr) Dispositif de commande de robot et procédé de commande de robot
JP2019155509A (ja) ロボットの制御装置、制御方法及びプログラム
JP7399357B1 (ja) 軌道生成装置
US20220226997A1 (en) Planning system, robot system, planning method, and non-transitory computer readable storage medium
WO2022224449A1 (fr) Dispositif de commande, procédé de commande et support d'enregistrement

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20221003

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20230627

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230816

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20230829

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20230926

R150 Certificate of patent or registration of utility model

Ref document number: 7357808

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150