JP7378640B2 - ロボット制御装置およびロボット制御方法 - Google Patents

ロボット制御装置およびロボット制御方法 Download PDF

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Publication number
JP7378640B2
JP7378640B2 JP2022563069A JP2022563069A JP7378640B2 JP 7378640 B2 JP7378640 B2 JP 7378640B2 JP 2022563069 A JP2022563069 A JP 2022563069A JP 2022563069 A JP2022563069 A JP 2022563069A JP 7378640 B2 JP7378640 B2 JP 7378640B2
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manipulator
command trajectory
robot control
command
constraint
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JPWO2022201377A1 (https=
JPWO2022201377A5 (https=
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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
    • B25J9/1656—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
    • 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
    • G05B2219/40517—Constraint motion planning, variational dynamic programming
    • 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
    • G05B2219/40519—Motion, trajectory planning

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
JP2022563069A 2021-03-24 2021-03-24 ロボット制御装置およびロボット制御方法 Active JP7378640B2 (ja)

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PCT/JP2021/012339 WO2022201377A1 (ja) 2021-03-24 2021-03-24 ロボット制御装置およびロボット制御方法

Publications (3)

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JPWO2022201377A1 JPWO2022201377A1 (https=) 2022-09-29
JPWO2022201377A5 JPWO2022201377A5 (https=) 2023-02-21
JP7378640B2 true JP7378640B2 (ja) 2023-11-13

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JP (1) JP7378640B2 (https=)
CN (1) CN116940906A (https=)
DE (1) DE112021007371B4 (https=)
WO (1) WO2022201377A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116728418B (zh) * 2023-08-01 2025-10-10 苏州兰里智能科技有限公司 基于视觉反馈的复合机器人动态误差补偿方法
CN119704204B (zh) * 2025-02-21 2025-05-02 湖南大学 用于机械手的鲁棒视觉约束控制方法、系统和计算机设备

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000010777A1 (de) 1998-08-19 2000-03-02 Kuka Roboter Gmbh Vorrichtung und verfahren zum gewichtsausgleich eines roboterarms
JP2005044230A (ja) 2003-07-24 2005-02-17 Mitsubishi Electric Corp ロボット制御装置
US20110087375A1 (en) 2009-10-13 2011-04-14 Kuka Roboter Gmbh Method And Device For Controlling A Manipulator
JP2013041478A (ja) 2011-08-17 2013-02-28 Fanuc Ltd 学習制御機能を備えたロボット
WO2017129200A1 (en) 2016-01-28 2017-08-03 MAX-PLANCK-Gesellschaft zur Förderung der Wissenschaften e.V. A system for real-world continuous motion optimization and control
JP2019123051A (ja) 2018-01-17 2019-07-25 キヤノン株式会社 ロボット装置、ロボットの制御方法、ロボットの制御装置
JP2020506815A (ja) 2017-02-08 2020-03-05 ユニバーシティ オブ プレトリア ロボット

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05297916A (ja) * 1992-04-16 1993-11-12 Nachi Fujikoshi Corp ロボットの軌跡制御方法
JP5480198B2 (ja) * 2011-05-17 2014-04-23 ファナック株式会社 学習制御機能を備えたスポット溶接ロボット
US8886359B2 (en) 2011-05-17 2014-11-11 Fanuc Corporation Robot and spot welding robot with learning control function
JP6504864B2 (ja) * 2015-03-13 2019-04-24 キヤノン株式会社 ロボット制御方法、ロボット装置、プログラム、記録媒体及び物品の製造方法
JP6514166B2 (ja) 2016-09-16 2019-05-15 ファナック株式会社 ロボットの動作プログラムを学習する機械学習装置，ロボットシステムおよび機械学習方法
JP6585666B2 (ja) 2017-07-03 2019-10-02 ファナック株式会社 速度一定が要求されるアプリケーションにおいて学習制御を行うロボット及びその制御方法
JP6564433B2 (ja) 2017-08-29 2019-08-21 ファナック株式会社 ロボットシステム
JP6874712B2 (ja) 2018-02-19 2021-05-19 オムロン株式会社 シミュレーション装置、シミュレーション方法及びシミュレーションプログラム
CN111890350A (zh) * 2020-06-12 2020-11-06 深圳先进技术研究院 机器人及其控制方法、计算机可读存储介质

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000010777A1 (de) 1998-08-19 2000-03-02 Kuka Roboter Gmbh Vorrichtung und verfahren zum gewichtsausgleich eines roboterarms
JP2005044230A (ja) 2003-07-24 2005-02-17 Mitsubishi Electric Corp ロボット制御装置
US20110087375A1 (en) 2009-10-13 2011-04-14 Kuka Roboter Gmbh Method And Device For Controlling A Manipulator
JP2013041478A (ja) 2011-08-17 2013-02-28 Fanuc Ltd 学習制御機能を備えたロボット
WO2017129200A1 (en) 2016-01-28 2017-08-03 MAX-PLANCK-Gesellschaft zur Förderung der Wissenschaften e.V. A system for real-world continuous motion optimization and control
JP2020506815A (ja) 2017-02-08 2020-03-05 ユニバーシティ オブ プレトリア ロボット
JP2019123051A (ja) 2018-01-17 2019-07-25 キヤノン株式会社 ロボット装置、ロボットの制御方法、ロボットの制御装置

Also Published As

Publication number Publication date
DE112021007371T5 (de) 2024-02-15
JPWO2022201377A1 (https=) 2022-09-29
WO2022201377A1 (ja) 2022-09-29
DE112021007371B4 (de) 2024-12-05
CN116940906A (zh) 2023-10-24

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