JP7477653B2 - ロボットシステム及びロボット移動制御装置 - Google Patents

ロボットシステム及びロボット移動制御装置 Download PDF

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Publication number
JP7477653B2
JP7477653B2 JP2022572218A JP2022572218A JP7477653B2 JP 7477653 B2 JP7477653 B2 JP 7477653B2 JP 2022572218 A JP2022572218 A JP 2022572218A JP 2022572218 A JP2022572218 A JP 2022572218A JP 7477653 B2 JP7477653 B2 JP 7477653B2
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Japan
Prior art keywords
robot
manipulator
hand
movement
coordinate system
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JP2022572218A
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Japanese (ja)
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JPWO2022138367A5 (https=
JPWO2022138367A1 (https=
Inventor
好紀 落石
浩 飯島
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Fanuc Corp
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Fanuc Corp
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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
    • 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—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
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
JP2022572218A 2020-12-22 2021-12-15 ロボットシステム及びロボット移動制御装置 Active JP7477653B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020211965 2020-12-22
JP2020211965 2020-12-22
PCT/JP2021/046228 WO2022138367A1 (ja) 2020-12-22 2021-12-15 ロボットシステム及びロボット移動制御装置

Publications (3)

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JPWO2022138367A1 JPWO2022138367A1 (https=) 2022-06-30
JPWO2022138367A5 JPWO2022138367A5 (https=) 2023-09-12
JP7477653B2 true JP7477653B2 (ja) 2024-05-01

Family

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Family Applications (1)

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JP2022572218A Active JP7477653B2 (ja) 2020-12-22 2021-12-15 ロボットシステム及びロボット移動制御装置

Country Status (5)

Country Link
US (1) US20240051133A1 (https=)
JP (1) JP7477653B2 (https=)
CN (1) CN116615315A (https=)
DE (1) DE112021005261T5 (https=)
WO (1) WO2022138367A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20260077495A1 (en) * 2022-09-12 2026-03-19 Fanuc Corporation Robot apparatus

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000288966A (ja) 1999-03-31 2000-10-17 Tokico Ltd 工業用ロボット
JP2005329515A (ja) 2004-05-21 2005-12-02 Hitachi Ltd サービスロボットシステム
JP2008134144A (ja) 2006-11-28 2008-06-12 Murata Mach Ltd 移動体システム
JP2010064198A (ja) 2008-09-11 2010-03-25 Kawada Kogyo Kk ロボットの作業位置修正システムおよびそのシステムを備えた簡易設置型ロボット
JP2011108156A (ja) 2009-11-20 2011-06-02 Japan Science & Technology Agency 料理プロセス指示装置及び料理プロセス指示方法
JP2013025639A (ja) 2011-07-22 2013-02-04 Murata Mach Ltd 移動体システムと移動体の走行制御方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08174449A (ja) * 1994-12-26 1996-07-09 Mitsubishi Motors Corp ワーク搬送ロボット
JP2011189440A (ja) * 2010-03-12 2011-09-29 Fuji Electric Co Ltd ロボット制御装置、ロボットシステム、プログラムおよびロボットの制御方法
KR101246073B1 (ko) * 2010-12-08 2013-03-21 삼성중공업 주식회사 로봇 제어 장치 및 방법
US10035263B2 (en) * 2015-11-03 2018-07-31 Kurion, Inc. System and method for inspection and maintenance of hazardous spaces
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
CN111941398A (zh) * 2020-08-18 2020-11-17 山东大学日照智能制造研究院 一种多机械臂加工系统及工作方法
US20230381955A1 (en) * 2022-05-31 2023-11-30 Herkules Equipment Corporation Mobile robot including a lift assembly and a low-profile drive mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000288966A (ja) 1999-03-31 2000-10-17 Tokico Ltd 工業用ロボット
JP2005329515A (ja) 2004-05-21 2005-12-02 Hitachi Ltd サービスロボットシステム
JP2008134144A (ja) 2006-11-28 2008-06-12 Murata Mach Ltd 移動体システム
JP2010064198A (ja) 2008-09-11 2010-03-25 Kawada Kogyo Kk ロボットの作業位置修正システムおよびそのシステムを備えた簡易設置型ロボット
JP2011108156A (ja) 2009-11-20 2011-06-02 Japan Science & Technology Agency 料理プロセス指示装置及び料理プロセス指示方法
JP2013025639A (ja) 2011-07-22 2013-02-04 Murata Mach Ltd 移動体システムと移動体の走行制御方法

Also Published As

Publication number Publication date
TW202224875A (zh) 2022-07-01
WO2022138367A1 (ja) 2022-06-30
DE112021005261T5 (de) 2023-08-03
CN116615315A (zh) 2023-08-18
JPWO2022138367A1 (https=) 2022-06-30
US20240051133A1 (en) 2024-02-15

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