JP7392428B2 - ロボットシステムの制御方法 - Google Patents

ロボットシステムの制御方法 Download PDF

Info

Publication number
JP7392428B2
JP7392428B2 JP2019216058A JP2019216058A JP7392428B2 JP 7392428 B2 JP7392428 B2 JP 7392428B2 JP 2019216058 A JP2019216058 A JP 2019216058A JP 2019216058 A JP2019216058 A JP 2019216058A JP 7392428 B2 JP7392428 B2 JP 7392428B2
Authority
JP
Japan
Prior art keywords
vehicle
workstation
power
robot
robot arm
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
JP2019216058A
Other languages
English (en)
Japanese (ja)
Other versions
JP2021084195A5 (https=
JP2021084195A (ja
Inventor
裕之 金井
俊介 年光
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.)
Seiko Epson Corp
Original Assignee
Seiko Epson 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 Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2019216058A priority Critical patent/JP7392428B2/ja
Priority to EP20208180.8A priority patent/EP3827936B1/en
Priority to US17/104,211 priority patent/US11633851B2/en
Priority to CN202011339123.XA priority patent/CN112873198B/zh
Priority to TW109141624A priority patent/TWI755947B/zh
Publication of JP2021084195A publication Critical patent/JP2021084195A/ja
Publication of JP2021084195A5 publication Critical patent/JP2021084195A5/ja
Application granted granted Critical
Publication of JP7392428B2 publication Critical patent/JP7392428B2/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
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • 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
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • 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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • 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
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31004—Move vehicle to battery charge or maintenance area
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34306—Power down, energy saving
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34315—Power supply turning on or shutting off
    • 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
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
JP2019216058A 2019-11-29 2019-11-29 ロボットシステムの制御方法 Active JP7392428B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2019216058A JP7392428B2 (ja) 2019-11-29 2019-11-29 ロボットシステムの制御方法
EP20208180.8A EP3827936B1 (en) 2019-11-29 2020-11-17 Control method for robot system
US17/104,211 US11633851B2 (en) 2019-11-29 2020-11-25 Control method for robot system
CN202011339123.XA CN112873198B (zh) 2019-11-29 2020-11-25 机器人系统的控制方法
TW109141624A TWI755947B (zh) 2019-11-29 2020-11-26 機器人系統之控制方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2019216058A JP7392428B2 (ja) 2019-11-29 2019-11-29 ロボットシステムの制御方法

Publications (3)

Publication Number Publication Date
JP2021084195A JP2021084195A (ja) 2021-06-03
JP2021084195A5 JP2021084195A5 (https=) 2022-09-26
JP7392428B2 true JP7392428B2 (ja) 2023-12-06

Family

ID=73475886

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019216058A Active JP7392428B2 (ja) 2019-11-29 2019-11-29 ロボットシステムの制御方法

Country Status (5)

Country Link
US (1) US11633851B2 (https=)
EP (1) EP3827936B1 (https=)
JP (1) JP7392428B2 (https=)
CN (1) CN112873198B (https=)
TW (1) TWI755947B (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116833996A (zh) * 2022-03-25 2023-10-03 美的集团股份有限公司 工业机器人的控制方法、设备及存储介质
WO2023192681A1 (en) * 2022-04-01 2023-10-05 Vanderbilt University Inertia-based improvements to robots and robotic systems
JP7808787B2 (ja) * 2022-12-29 2026-01-30 パナソニックＩｐマネジメント株式会社 搬送制御システム、搬送システム、及び搬送制御システムの制御方法

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01115580A (ja) * 1987-10-28 1989-05-08 Mitsubishi Electric Corp マニピュレータ付搬送車のマニピュレータ保持装置
JPH04240078A (ja) * 1991-01-22 1992-08-27 Sony Corp ロボットを搭載した搬送車及びこれを用いる生産装置
JP4491912B2 (ja) * 2000-05-22 2010-06-30 ソニー株式会社 バッテリ駆動の脚式移動ロボット及びその制御方法
AU2007347733B2 (en) * 2006-10-06 2012-05-03 Irobot Corporation Robotic vehicle
JP2008260117A (ja) 2007-03-16 2008-10-30 Nsk Ltd 脚車輪型ロボット及び脚車輪装置
JP6474339B2 (ja) * 2015-09-01 2019-02-27 ファナック株式会社 ブレーキの異常による駆動軸における部材の移動を停止する機械
JP2017132002A (ja) * 2016-01-28 2017-08-03 株式会社安川電機 ロボットアーム付自動搬送車、ロボットシステム、及びロボットアーム付自動搬送車の制御方法
CN105643589B (zh) * 2016-03-08 2018-08-07 北京工业大学 一种自主排障式智能车系统
CN107305372B (zh) * 2016-04-25 2020-06-19 岳秀兰 云计算网络架构的远程监控的电动汽车能源监控和补给网
CN106043247B (zh) * 2016-06-23 2020-02-28 蔚来汽车有限公司 模块化可扩充的换电站设备和充电架
JP2018075672A (ja) * 2016-11-10 2018-05-17 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
JP6818565B2 (ja) * 2017-01-24 2021-01-20 三菱重工エンジン＆ターボチャージャ株式会社 生産システム
JP6585656B2 (ja) * 2017-05-10 2019-10-02 株式会社ソニー・インタラクティブエンタテインメント 製造ライン用コンピュータシステム及びそのネットワーク設定方法
US10916073B2 (en) * 2018-05-01 2021-02-09 Ford Global Technologies, Llc Vehicle network data streaming system
JP2019216058A (ja) 2018-06-14 2019-12-19 日本電子株式会社 電子顕微鏡および評価方法
CN208756849U (zh) * 2018-06-20 2019-04-19 南阳防爆电气研究所有限公司 一种消防灭火侦察防爆机器人
JP7131131B2 (ja) * 2018-06-29 2022-09-06 マツダ株式会社 車両用ライン検出装置および該方法
CN209140881U (zh) * 2018-09-12 2019-07-23 珠海心怡科技有限公司 通用型建筑室内工程智能机器人

Also Published As

Publication number Publication date
US20210162591A1 (en) 2021-06-03
CN112873198A (zh) 2021-06-01
TWI755947B (zh) 2022-02-21
CN112873198B (zh) 2023-05-23
JP2021084195A (ja) 2021-06-03
EP3827936A1 (en) 2021-06-02
US11633851B2 (en) 2023-04-25
TW202120273A (zh) 2021-06-01
EP3827936B1 (en) 2024-03-27

Similar Documents

Publication Publication Date Title
JP6268819B2 (ja) 多軸型ロボットの軌道生成方法
JP7211007B2 (ja) 制御装置、ロボットシステムおよび制御方法
JP7392428B2 (ja) ロボットシステムの制御方法
JP4962551B2 (ja) ロボットシステムおよびロボットシステムの制御方法
US9452532B2 (en) Robot, device and method for controlling robot, and computer-readable non-transitory recording medium
TWI454350B (zh) Robot movement regulation method and robot system
JP7275488B2 (ja) ロボットシステム
JP6167770B2 (ja) 多軸型ロボットの軌道生成方法及び多軸型ロボットの制御装置
JP5144785B2 (ja) ロボットの着目部位と周辺物との干渉を予測する方法及び装置
JPH079606B2 (ja) ロボット制御装置
EP3441201B1 (en) Method for operating a robot and robotic system
JP2011206886A (ja) ロボットの制御装置及び方法
JP6794194B2 (ja) ロボット装置、制御方法、プログラム、記録媒体及び物品の製造方法
Völz et al. A predictive path-following controller for continuous replanning with dynamic roadmaps
KR20250116099A (ko) 로봇 움직임 및 질량체들과의 상호작용
CN110394802A (zh) 一种打磨机器人及位置补偿方法
US11738458B2 (en) Control method for robot system
JP2020097101A (ja) ロボット装置、ロボットシステム、ロボット装置の制御方法、ロボット装置を用いた物品の製造方法、制御プログラム及び記録媒体
CN118700164B (zh) 一种用于夹取机械臂的控制方法及系统
JP2019104091A (ja) ロボット装置、ロボット装置の制御方法
WO2024045091A1 (zh) 执行机构的运动规划方法、装置、系统及存储介质
JP2019214105A (ja) ロボット制御装置およびロボット制御方法
JP7182952B2 (ja) 制御方法、制御プログラム、記録媒体、制御装置、ロボットシステム、および物品の製造方法
JP7500191B2 (ja) ロボットシステム、搬送車、ロボットシステムの制御方法、物品の製造方法、制御プログラム及び記録媒体
JPH04178708A (ja) ロボット制御装置

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220914

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20220914

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20230721

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20230801

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230906

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: 20231106

R150 Certificate of patent or registration of utility model

Ref document number: 7392428

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150