JP7399357B1 - 軌道生成装置 - Google Patents

軌道生成装置 Download PDF

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Publication number
JP7399357B1
JP7399357B1 JP2023534202A JP2023534202A JP7399357B1 JP 7399357 B1 JP7399357 B1 JP 7399357B1 JP 2023534202 A JP2023534202 A JP 2023534202A JP 2023534202 A JP2023534202 A JP 2023534202A JP 7399357 B1 JP7399357 B1 JP 7399357B1
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JP
Japan
Prior art keywords
maximum movement
acceleration
movement axis
deceleration
trajectory
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.)
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JP2023534202A
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English (en)
Japanese (ja)
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JPWO2023149298A1 (https=
JPWO2023149298A5 (https=
Inventor
清石 前川
諒 松岡
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
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Mitsubishi Electric Corp
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Publication date
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Publication of JPWO2023149298A1 publication Critical patent/JPWO2023149298A1/ja
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Publication of JPWO2023149298A5 publication Critical patent/JPWO2023149298A5/ja
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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
    • B25J9/1666—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—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
    • 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • G05B2219/40476—Collision, planning for collision free path
    • 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)
  • Numerical Control (AREA)
  • Manipulator (AREA)
JP2023534202A 2022-02-04 2023-01-25 軌道生成装置 Active JP7399357B1 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2022016096 2022-02-04
JP2022016096 2022-02-04
PCT/JP2023/002235 WO2023149298A1 (ja) 2022-02-04 2023-01-25 軌道生成装置

Publications (3)

Publication Number Publication Date
JPWO2023149298A1 JPWO2023149298A1 (https=) 2023-08-10
JP7399357B1 true JP7399357B1 (ja) 2023-12-15
JPWO2023149298A5 JPWO2023149298A5 (https=) 2024-01-10

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ID=87552189

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023534202A Active JP7399357B1 (ja) 2022-02-04 2023-01-25 軌道生成装置

Country Status (5)

Country Link
US (1) US20250100142A1 (https=)
JP (1) JP7399357B1 (https=)
CN (1) CN118632766A (https=)
DE (1) DE112023000819T5 (https=)
WO (1) WO2023149298A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7829543B2 (ja) * 2023-12-22 2026-03-13 株式会社安川電機 ロボットシステム及び制御方法
US20260021581A1 (en) * 2024-07-17 2026-01-22 Fanuc Corporation Height map collision avoidance

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002073130A (ja) * 2000-06-13 2002-03-12 Yaskawa Electric Corp ロボットの大域動作経路計画方法とその制御装置
WO2022009333A1 (ja) * 2020-07-08 2022-01-13 三菱電機株式会社 ロボット制御装置、ロボット制御方法、およびロボット制御プログラム
JP2022012887A (ja) * 2020-07-02 2022-01-17 株式会社デンソー 動作経路生成装置、動作経路生成方法および動作経路生成プログラム

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7158862B2 (ja) 2018-02-05 2022-10-24 キヤノン株式会社 情報処理方法及び情報処理装置
EP3623887A1 (de) * 2018-09-12 2020-03-18 Siemens Aktiengesellschaft Zeitoptimierte bewegungsführung zwischen bahnabschnitten

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002073130A (ja) * 2000-06-13 2002-03-12 Yaskawa Electric Corp ロボットの大域動作経路計画方法とその制御装置
JP2022012887A (ja) * 2020-07-02 2022-01-17 株式会社デンソー 動作経路生成装置、動作経路生成方法および動作経路生成プログラム
WO2022009333A1 (ja) * 2020-07-08 2022-01-13 三菱電機株式会社 ロボット制御装置、ロボット制御方法、およびロボット制御プログラム

Also Published As

Publication number Publication date
US20250100142A1 (en) 2025-03-27
CN118632766A (zh) 2024-09-10
JPWO2023149298A1 (https=) 2023-08-10
WO2023149298A1 (ja) 2023-08-10
DE112023000819T5 (de) 2024-11-28

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