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
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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/JP7807486B2/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—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
    • 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—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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program 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—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
    • 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]
    • G05B19/41815—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 JP7807486B2 (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

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JP2024074693A Division JP7807486B2 (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)

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

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JP2024074693A Active JP7807486B2 (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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US (1) US12377543B2 (https=)
EP (1) EP4227044B1 (https=)
JP (2) JP7485705B2 (https=)
CN (2) CN116572230A (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102925490B1 (ko) * 2023-04-19 2026-02-11 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

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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
ATE412929T1 (de) 2006-09-14 2008-11-15 Abb Research Ltd Verfahren und vorrichtung zur vermeidung von kollisionen zwischen einem industrieroboter und einem objekt
WO2011150534A1 (zh) 2010-06-04 2011-12-08 中国科学院自动化研究所 加速度连续的机器人轨迹生成系统和方法
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
JP6879009B2 (ja) 2017-03-30 2021-06-02 株式会社安川電機 ロボット動作指令生成方法、ロボット動作指令生成装置及びコンピュータプログラム
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
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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
JP7217727B2 (ja) * 2020-07-21 2023-02-03 株式会社エクサウィザーズ 制御装置、把持システム、方法、およびプログラム
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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
US20230249347A1 (en) 2023-08-10
US12377543B2 (en) 2025-08-05
EP4227044A1 (en) 2023-08-16
JP2024102220A (ja) 2024-07-30
JP7807486B2 (ja) 2026-01-27
CN118559714B (zh) 2025-06-27
CN116572230A (zh) 2023-08-11
JP2023116978A (ja) 2023-08-23
EP4227044B1 (en) 2025-11-19
CN118559714A (zh) 2024-08-30

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