JP7485705B2 - ロボットシステム、タスク生成装置及び制御方法 - Google Patents

ロボットシステム、タスク生成装置及び制御方法 Download PDF

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Publication number
JP7485705B2
JP7485705B2 JP2022019414A JP2022019414A JP7485705B2 JP 7485705 B2 JP7485705 B2 JP 7485705B2 JP 2022019414 A JP2022019414 A JP 2022019414A JP 2022019414 A JP2022019414 A JP 2022019414A JP 7485705 B2 JP7485705 B2 JP 7485705B2
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Japan
Prior art keywords
command
unit
path
robot
commands
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JP2022019414A
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English (en)
Japanese (ja)
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JP2023116978A (ja
Inventor
貴宏 前田
元春 丸野
裕太 有田
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Yaskawa Electric Corp
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Yaskawa Electric 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 Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Priority to JP2022019414A priority Critical patent/JP7485705B2/ja
Priority to EP23154670.6A priority patent/EP4227044B1/en
Priority to US18/164,631 priority patent/US12377543B2/en
Priority to CN202310141555.7A priority patent/CN116572230A/zh
Priority to CN202410801147.4A priority patent/CN118559714B/zh
Publication of JP2023116978A publication Critical patent/JP2023116978A/ja
Priority to JP2024074693A priority patent/JP2024102220A/ja
Application granted granted Critical
Publication of JP7485705B2 publication Critical patent/JP7485705B2/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—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
    • 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—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
    • B25J13/00—Controls for manipulators
    • 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
    • B25J9/1602—Programme 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • B25J9/1694—Programme 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-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]
    • G05B19/41815—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 cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—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 cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39102—Manipulator cooperating with conveyor
    • 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
    • G05B2219/40317—For collision avoidance and detection
    • 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
    • G05B2219/40515—Integration of simulation and planning

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
JP2022019414A 2022-02-10 2022-02-10 ロボットシステム、タスク生成装置及び制御方法 Active JP7485705B2 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2022019414A JP7485705B2 (ja) 2022-02-10 2022-02-10 ロボットシステム、タスク生成装置及び制御方法
EP23154670.6A EP4227044B1 (en) 2022-02-10 2023-02-02 Robot system and control method
US18/164,631 US12377543B2 (en) 2022-02-10 2023-02-06 Path planning during execution of robot control
CN202310141555.7A CN116572230A (zh) 2022-02-10 2023-02-08 机器人系统及控制方法
CN202410801147.4A CN118559714B (zh) 2022-02-10 2023-02-08 机器人系统及控制方法
JP2024074693A JP2024102220A (ja) 2022-02-10 2024-05-02 ロボットシステム、タスク生成装置及び制御方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2022019414A JP7485705B2 (ja) 2022-02-10 2022-02-10 ロボットシステム、タスク生成装置及び制御方法

Related Child Applications (1)

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JP2024074693A Division JP2024102220A (ja) 2022-02-10 2024-05-02 ロボットシステム、タスク生成装置及び制御方法

Publications (2)

Publication Number Publication Date
JP2023116978A JP2023116978A (ja) 2023-08-23
JP7485705B2 true JP7485705B2 (ja) 2024-05-16

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JP2022019414A Active JP7485705B2 (ja) 2022-02-10 2022-02-10 ロボットシステム、タスク生成装置及び制御方法
JP2024074693A Pending JP2024102220A (ja) 2022-02-10 2024-05-02 ロボットシステム、タスク生成装置及び制御方法

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Country Link
US (1) US12377543B2 (enExample)
EP (1) EP4227044B1 (enExample)
JP (2) JP7485705B2 (enExample)
CN (2) CN116572230A (enExample)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20240154862A (ko) * 2023-04-19 2024-10-28 한국전자통신연구원 고난이도 작업을 위한 로봇 교시 방법 및 장치
JP2025115760A (ja) * 2024-01-26 2025-08-07 株式会社安川電機 ロボットシステム及び制御方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005025668A (ja) 2003-07-02 2005-01-27 Kanehira:Kk 形状加工方法及び形状加工プログラム
JP2012187697A (ja) 2011-03-14 2012-10-04 Toyota Motor Corp ロボットの軌道計画システム及び軌道計画方法
JP2022504593A (ja) 2018-10-10 2022-01-13 美的集団股▲フン▼有限公司 リモートロボット制御を提供する方法及びシステム

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61272803A (ja) * 1985-05-29 1986-12-03 Hitachi Ltd 数値制御加工方式
JPS62157911A (ja) * 1985-12-28 1987-07-13 Fanuc Ltd ロボツトのパスデ−タ作成方法
JP4103057B2 (ja) 1998-06-29 2008-06-18 株式会社安川電機 ロボットの動作経路計画方法およびその装置
JP2006099260A (ja) 2004-09-28 2006-04-13 Fanuc Ltd ロボットプログラム作成装置
EP1901150B1 (en) 2006-09-14 2008-10-29 Abb Research Ltd. A method and device for avoiding collisions between an industrial robot and an object
US8600554B2 (en) 2010-06-04 2013-12-03 Institute Of Automation, Chinese Academy Of Sciences System and method for robot trajectory generation with continuous accelerations
WO2015120864A1 (en) * 2014-02-13 2015-08-20 Abb Technology Ag Robot system and method for controlling the robot system
US9272417B2 (en) * 2014-07-16 2016-03-01 Google Inc. Real-time determination of object metrics for trajectory planning
US10723024B2 (en) 2015-01-26 2020-07-28 Duke University Specialized robot motion planning hardware and methods of making and using same
JP6998660B2 (ja) 2017-02-21 2022-01-18 株式会社安川電機 ロボットシミュレータ、ロボットシステム及びシミュレーション方法
JP7077800B2 (ja) 2018-06-11 2022-05-31 オムロン株式会社 経路計画装置、経路計画方法、及び経路計画プログラム
US11014237B2 (en) * 2019-07-11 2021-05-25 Intelligrated Headquarters, Llc Methods, systems, and apparatuses, for path planning and execution in a robotic system
US11919175B2 (en) 2020-04-15 2024-03-05 Mujin, Inc. Robotic system with collision avoidance mechanism and method of operation thereof
CN112247993B (zh) 2020-04-15 2022-02-18 牧今科技 具有碰撞避免机制的机器人系统及其操作方法
JP6898506B1 (ja) 2020-07-01 2021-07-07 株式会社安川電機 制御システム、ロボットシステム及び制御方法
WO2022119934A1 (en) * 2020-12-02 2022-06-09 Realtime Robotics, Inc. Systems, methods, and user interfaces employing clearance determinations in robot motion planning and control

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005025668A (ja) 2003-07-02 2005-01-27 Kanehira:Kk 形状加工方法及び形状加工プログラム
JP2012187697A (ja) 2011-03-14 2012-10-04 Toyota Motor Corp ロボットの軌道計画システム及び軌道計画方法
JP2022504593A (ja) 2018-10-10 2022-01-13 美的集団股▲フン▼有限公司 リモートロボット制御を提供する方法及びシステム

Also Published As

Publication number Publication date
CN118559714A (zh) 2024-08-30
JP2024102220A (ja) 2024-07-30
EP4227044B1 (en) 2025-11-19
JP2023116978A (ja) 2023-08-23
EP4227044A1 (en) 2023-08-16
CN116572230A (zh) 2023-08-11
US12377543B2 (en) 2025-08-05
US20230249347A1 (en) 2023-08-10
CN118559714B (zh) 2025-06-27

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