JP7392159B2 - 制御装置及びロボットシステム - Google Patents

制御装置及びロボットシステム Download PDF

Info

Publication number
JP7392159B2
JP7392159B2 JP2022539504A JP2022539504A JP7392159B2 JP 7392159 B2 JP7392159 B2 JP 7392159B2 JP 2022539504 A JP2022539504 A JP 2022539504A JP 2022539504 A JP2022539504 A JP 2022539504A JP 7392159 B2 JP7392159 B2 JP 7392159B2
Authority
JP
Japan
Prior art keywords
axis
axes
motor
robot
rotation
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
JP2022539504A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2022025072A1 (https=
Inventor
創一 有田
健一郎 小栗
和輝 澤田
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 JPWO2022025072A1 publication Critical patent/JPWO2022025072A1/ja
Application granted granted Critical
Publication of JP7392159B2 publication Critical patent/JP7392159B2/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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1651—Program controls characterised by the control loop acceleration, rate control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
JP2022539504A 2020-07-31 2021-07-27 制御装置及びロボットシステム Active JP7392159B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020130903 2020-07-31
JP2020130903 2020-07-31
PCT/JP2021/027780 WO2022025072A1 (ja) 2020-07-31 2021-07-27 制御装置及びロボットシステム

Publications (2)

Publication Number Publication Date
JPWO2022025072A1 JPWO2022025072A1 (https=) 2022-02-03
JP7392159B2 true JP7392159B2 (ja) 2023-12-05

Family

ID=80036609

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022539504A Active JP7392159B2 (ja) 2020-07-31 2021-07-27 制御装置及びロボットシステム

Country Status (5)

Country Link
US (1) US20230302639A1 (https=)
JP (1) JP7392159B2 (https=)
CN (1) CN116209547A (https=)
DE (1) DE112021002634B4 (https=)
WO (1) WO2022025072A1 (https=)

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0224075A (ja) * 1988-07-13 1990-01-26 Mitsubishi Electric Corp 産業用ロボット
JPH03281083A (ja) * 1990-03-29 1991-12-11 Fanuc Ltd Ｃｎｃレーザ加工機の姿勢制御方式
JP2572483B2 (ja) * 1990-10-16 1997-01-16 本田技研工業株式会社 産業用ロボット装置
JPH0663884A (ja) * 1992-08-20 1994-03-08 Tokico Ltd 位置検出装置
JP2000000785A (ja) * 1998-06-11 2000-01-07 Meidensha Corp マニプレータの制御装置
JP4765995B2 (ja) * 2007-04-27 2011-09-07 セイコーエプソン株式会社 ロボット、及び、ロボット用のアタッチメント
CN102029608A (zh) * 2009-09-24 2011-04-27 鸿富锦精密工业（深圳）有限公司 机器人
JP5370392B2 (ja) * 2011-02-23 2013-12-18 株式会社安川電機 ロボットシステム、ロボット制御装置およびロボット制御方法
DE112012006256B4 (de) * 2012-04-20 2015-11-19 Mitsubishi Electric Corporation Robotergelenkstruktur
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
JP6684556B2 (ja) * 2015-08-28 2020-04-22 株式会社電通 データ変換装置、ロボット、プログラム及び情報処理方法
CN106863347B (zh) * 2017-03-07 2023-08-18 壹利特机器人科技（常州）有限公司 一种模块化两自由度机器人关节
JP7117827B2 (ja) * 2017-05-18 2022-08-15 川崎重工業株式会社 モータ制御システム、モータ制御システムの制御方法、及びロボットシステム
EP3653347B1 (en) * 2017-07-11 2024-09-11 Panasonic Intellectual Property Management Co., Ltd. Robot control device

Also Published As

Publication number Publication date
JPWO2022025072A1 (https=) 2022-02-03
DE112021002634T5 (de) 2023-03-23
DE112021002634B4 (de) 2025-05-15
CN116209547A (zh) 2023-06-02
WO2022025072A1 (ja) 2022-02-03
US20230302639A1 (en) 2023-09-28

Similar Documents

Publication Publication Date Title
JP3808321B2 (ja) ロボット制御装置
US8396594B2 (en) Robot, control device for robot, and control method of robot
JP3830475B2 (ja) 制御装置
JP6584102B2 (ja) ロボット装置、ロボット制御方法、プログラム、記録媒体、及び物品の製造方法
US10259115B2 (en) Work device
JP5916583B2 (ja) 多関節ロボットのウィービング制御装置
WO2001038048A1 (en) Robot controller
JPH0144476B2 (https=)
US20200283242A1 (en) Robot, method of controlling robot, method of manufacturing product, and recording medium
JPWO2007111252A1 (ja) マニピュレータの制御方法および制御システム
JP2014013554A (ja) ボールネジの伸縮量を補正する機能を備えたサーボ制御装置
JP2011101938A (ja) ロボットおよびその制御装置
JP2019141983A (ja) ロボット制御装置
JP6088601B2 (ja) 走行軸付きロボットにおけるツール先端の振れを抑制するロボット制御装置
JP7392159B2 (ja) 制御装置及びロボットシステム
JP6576824B2 (ja) ロボット制御装置
JP2013223895A (ja) ロボット制御方法及びロボット制御装置
JP2005052913A (ja) ロボット制御装置
JP6021478B2 (ja) ロボット制御装置、及びロボット制御方法
WO2019216416A1 (ja) 撓み量推定装置、ロボット制御装置、及び撓み量推定方法
JP4442464B2 (ja) 多関節アーム機構
JPH04322988A (ja) ロボットの関節機構
JP2014159066A (ja) ロボット制御装置及びロボットの制御方法
JPH0760667A (ja) ロボットのウィービング制御装置
JP3094418B2 (ja) 産業用ロボットの協調制御方法および装置

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20230207

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: 20231024

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20231122

R150 Certificate of patent or registration of utility model

Ref document number: 7392159

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150