JP7381718B2 - オフラインシミュレーションシステム - Google Patents

オフラインシミュレーションシステム Download PDF

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Publication number
JP7381718B2
JP7381718B2 JP2022512024A JP2022512024A JP7381718B2 JP 7381718 B2 JP7381718 B2 JP 7381718B2 JP 2022512024 A JP2022512024 A JP 2022512024A JP 2022512024 A JP2022512024 A JP 2022512024A JP 7381718 B2 JP7381718 B2 JP 7381718B2
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Japan
Prior art keywords
workpiece
unit
virtual space
vision correction
teaching
Prior art date
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JP2022512024A
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English (en)
Japanese (ja)
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JPWO2021200470A1 (https=
Inventor
裕介 村田
広光 高橋
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.)
Fanuc Corp
Original Assignee
Fanuc 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 Fanuc Corp filed Critical Fanuc Corp
Publication of JPWO2021200470A1 publication Critical patent/JPWO2021200470A1/ja
Application granted granted Critical
Publication of JP7381718B2 publication Critical patent/JP7381718B2/ja
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Classifications

    • 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
    • B25J9/1671—Program 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/427—Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, leader-follower 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
    • G05B2219/39014—Match virtual world with real world
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50391—Robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
JP2022512024A 2020-03-30 2021-03-24 オフラインシミュレーションシステム Active JP7381718B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020060313 2020-03-30
JP2020060313 2020-03-30
PCT/JP2021/012229 WO2021200470A1 (ja) 2020-03-30 2021-03-24 オフラインシミュレーションシステム

Publications (2)

Publication Number Publication Date
JPWO2021200470A1 JPWO2021200470A1 (https=) 2021-10-07
JP7381718B2 true JP7381718B2 (ja) 2023-11-15

Family

ID=77928366

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022512024A Active JP7381718B2 (ja) 2020-03-30 2021-03-24 オフラインシミュレーションシステム

Country Status (5)

Country Link
US (1) US12090669B2 (https=)
JP (1) JP7381718B2 (https=)
CN (1) CN115397629A (https=)
DE (1) DE112021002026B4 (https=)
WO (1) WO2021200470A1 (https=)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006260271A (ja) 2005-03-17 2006-09-28 Fanuc Ltd オフライン教示装置
JP2009119589A (ja) 2007-11-19 2009-06-04 Yaskawa Electric Corp ロボットシミュレータ
JP2019098513A (ja) 2017-11-28 2019-06-24 株式会社デンソーウェーブ 教示装置、教示方法
JP2019188530A (ja) 2018-04-25 2019-10-31 ファナック株式会社 ロボットのシミュレーション装置

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4238256B2 (ja) * 2006-06-06 2009-03-18 ファナック株式会社 ロボットシミュレーション装置
US7945349B2 (en) * 2008-06-09 2011-05-17 Abb Technology Ab Method and a system for facilitating calibration of an off-line programmed robot cell
JP5815761B2 (ja) * 2014-01-23 2015-11-17 ファナック株式会社 視覚センサのデータ作成システム及び検出シミュレーションシステム
JP2015229234A (ja) * 2014-06-06 2015-12-21 ナブテスコ株式会社 作業ロボットの教示データ生成装置及び教示データ生成方法
JP6350037B2 (ja) * 2014-06-30 2018-07-04 株式会社安川電機 ロボットシミュレータおよびロボットシミュレータのファイル生成方法
JP6126067B2 (ja) * 2014-11-28 2017-05-10 ファナック株式会社 工作機械及びロボットを備えた協働システム
US9740191B2 (en) * 2015-02-12 2017-08-22 The Boeing Company Location calibration for automated production manufacturing
JP7091609B2 (ja) * 2017-04-14 2022-06-28 セイコーエプソン株式会社 シミュレーション装置、ロボット制御装置およびロボット
JP6693981B2 (ja) * 2018-02-19 2020-05-13 ファナック株式会社 ロボットの動作をシミュレーションするシミュレーション装置
EP3566824B1 (en) * 2018-05-11 2023-06-28 Siemens Aktiengesellschaft Method, apparatus, computer-readable storage media and a computer program for robotic programming
CN110238831B (zh) * 2019-07-23 2020-09-18 青岛理工大学 基于rgb-d图像及示教器的机器人示教系统及方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006260271A (ja) 2005-03-17 2006-09-28 Fanuc Ltd オフライン教示装置
JP2009119589A (ja) 2007-11-19 2009-06-04 Yaskawa Electric Corp ロボットシミュレータ
JP2019098513A (ja) 2017-11-28 2019-06-24 株式会社デンソーウェーブ 教示装置、教示方法
JP2019188530A (ja) 2018-04-25 2019-10-31 ファナック株式会社 ロボットのシミュレーション装置

Also Published As

Publication number Publication date
JPWO2021200470A1 (https=) 2021-10-07
WO2021200470A1 (ja) 2021-10-07
CN115397629A (zh) 2022-11-25
DE112021002026T5 (de) 2023-02-09
US12090669B2 (en) 2024-09-17
DE112021002026B4 (de) 2025-07-10
US20230090193A1 (en) 2023-03-23

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