JP7426333B2 - ロボット制御装置 - Google Patents

ロボット制御装置 Download PDF

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Publication number
JP7426333B2
JP7426333B2 JP2020198480A JP2020198480A JP7426333B2 JP 7426333 B2 JP7426333 B2 JP 7426333B2 JP 2020198480 A JP2020198480 A JP 2020198480A JP 2020198480 A JP2020198480 A JP 2020198480A JP 7426333 B2 JP7426333 B2 JP 7426333B2
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Japan
Prior art keywords
robot
teaching
posture
information
recorded
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
JP2020198480A
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English (en)
Japanese (ja)
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JP2022086463A (ja
Inventor
誠人 池口
慎一郎 中川
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.)
Daihen Corp
Original Assignee
Daihen 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 Daihen Corp filed Critical Daihen Corp
Priority to JP2020198480A priority Critical patent/JP7426333B2/ja
Priority to KR1020210137683A priority patent/KR20220076300A/ko
Priority to TW112104796A priority patent/TWI821115B/zh
Priority to CN202111212715.XA priority patent/CN114571447A/zh
Priority to TW110138615A priority patent/TWI809532B/zh
Publication of JP2022086463A publication Critical patent/JP2022086463A/ja
Application granted granted Critical
Publication of JP7426333B2 publication Critical patent/JP7426333B2/ja
Active legal-status Critical Current
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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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-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
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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]
JP2020198480A 2020-11-30 2020-11-30 ロボット制御装置 Active JP7426333B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2020198480A JP7426333B2 (ja) 2020-11-30 2020-11-30 ロボット制御装置
KR1020210137683A KR20220076300A (ko) 2020-11-30 2021-10-15 로봇 제어 장치
TW112104796A TWI821115B (zh) 2020-11-30 2021-10-18 機器人控制裝置
CN202111212715.XA CN114571447A (zh) 2020-11-30 2021-10-18 机器人控制装置
TW110138615A TWI809532B (zh) 2020-11-30 2021-10-18 機器人控制裝置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2020198480A JP7426333B2 (ja) 2020-11-30 2020-11-30 ロボット制御装置

Publications (2)

Publication Number Publication Date
JP2022086463A JP2022086463A (ja) 2022-06-09
JP7426333B2 true JP7426333B2 (ja) 2024-02-01

Family

ID=81768303

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2020198480A Active JP7426333B2 (ja) 2020-11-30 2020-11-30 ロボット制御装置

Country Status (4)

Country Link
JP (1) JP7426333B2 (zh)
KR (1) KR20220076300A (zh)
CN (1) CN114571447A (zh)
TW (2) TWI821115B (zh)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002052484A (ja) 2000-08-14 2002-02-19 Mitsubishi Heavy Ind Ltd ロボット装置及びその制御方法
DE102005060967A1 (de) 2005-12-20 2007-06-28 Technische Universität München Verfahren und Vorrichtung zum Einrichten einer Bahnkurve einer Robotervorrichtung
JP2011200997A (ja) 2010-03-26 2011-10-13 Kanto Auto Works Ltd ロボットのティーチング装置及びティーチング方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2511072B2 (ja) * 1987-10-23 1996-06-26 三菱重工業株式会社 ロボットにおける教示デ―タの記録・再生方法
JPH03270887A (ja) * 1990-03-20 1991-12-03 Tokico Ltd 工業用ロボットの制御装置および制御方法
JP2004188594A (ja) * 2004-03-01 2004-07-08 Fanuc Ltd ロボット制御装置
CN102950596B (zh) * 2011-08-23 2015-11-11 松下电器产业株式会社 并联连杆机器人及其动作示教方法
JP6706489B2 (ja) 2015-11-24 2020-06-10 川崎重工業株式会社 ロボットのダイレクト教示方法
JP6763846B2 (ja) * 2017-11-24 2020-09-30 ファナック株式会社 ロボットの教示操作を行う教示装置および教示方法
CN108388252B (zh) * 2018-04-10 2021-04-09 中科新松有限公司 一种机器人示教方法、装置、设备和介质
CN110216683A (zh) * 2019-04-28 2019-09-10 天津扬天科技有限公司 一种基于游戏手柄的协作机器人示教方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002052484A (ja) 2000-08-14 2002-02-19 Mitsubishi Heavy Ind Ltd ロボット装置及びその制御方法
DE102005060967A1 (de) 2005-12-20 2007-06-28 Technische Universität München Verfahren und Vorrichtung zum Einrichten einer Bahnkurve einer Robotervorrichtung
JP2011200997A (ja) 2010-03-26 2011-10-13 Kanto Auto Works Ltd ロボットのティーチング装置及びティーチング方法

Also Published As

Publication number Publication date
TW202222511A (zh) 2022-06-16
CN114571447A (zh) 2022-06-03
TWI809532B (zh) 2023-07-21
TW202322993A (zh) 2023-06-16
JP2022086463A (ja) 2022-06-09
TWI821115B (zh) 2023-11-01
KR20220076300A (ko) 2022-06-08

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