JP7583942B2 - ロボット制御装置、ロボット制御システム、及びロボット制御方法 - Google Patents

ロボット制御装置、ロボット制御システム、及びロボット制御方法 Download PDF

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Publication number
JP7583942B2
JP7583942B2 JP2023540414A JP2023540414A JP7583942B2 JP 7583942 B2 JP7583942 B2 JP 7583942B2 JP 2023540414 A JP2023540414 A JP 2023540414A JP 2023540414 A JP2023540414 A JP 2023540414A JP 7583942 B2 JP7583942 B2 JP 7583942B2
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Prior art keywords
robot
calibration
control unit
spatial information
coordinate system
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JP2023540414A
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Japanese (ja)
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JPWO2023013739A1 (https=
JPWO2023013739A5 (https=
Inventor
フィデリア グラシア
敬之 石田
雅人 森
真洋 内竹
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Kyocera Corp
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Kyocera 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39008—Fixed camera detects reference pattern held by end effector

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2023540414A 2021-08-04 2022-08-04 ロボット制御装置、ロボット制御システム、及びロボット制御方法 Active JP7583942B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021128491 2021-08-04
JP2021128491 2021-08-04
PCT/JP2022/030010 WO2023013739A1 (ja) 2021-08-04 2022-08-04 ロボット制御装置、ロボット制御システム、及びロボット制御方法

Publications (3)

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JPWO2023013739A1 JPWO2023013739A1 (https=) 2023-02-09
JPWO2023013739A5 JPWO2023013739A5 (https=) 2024-04-25
JP7583942B2 true JP7583942B2 (ja) 2024-11-14

Family

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JP2023540414A Active JP7583942B2 (ja) 2021-08-04 2022-08-04 ロボット制御装置、ロボット制御システム、及びロボット制御方法

Country Status (5)

Country Link
US (1) US20240342917A1 (https=)
EP (1) EP4382260A4 (https=)
JP (1) JP7583942B2 (https=)
CN (1) CN117769483A (https=)
WO (1) WO2023013739A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025263899A1 (ko) * 2024-06-21 2025-12-26 삼성전자 주식회사 로봇-비전 간 캘리브레이션을 위한 전자 장치 및 이를 이용한 캘리브레이션 방법

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009142903A (ja) 2007-12-11 2009-07-02 Denso Wave Inc ロボット制御装置
JP2010172986A (ja) 2009-01-28 2010-08-12 Fuji Electric Holdings Co Ltd ロボットビジョンシステムおよび自動キャリブレーション方法
JP2018094653A (ja) 2016-12-09 2018-06-21 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
CN110148187A (zh) 2019-06-04 2019-08-20 郑州大学 一种SCARA机械手Eye-in-Hand的高精度手眼标定方法和系统
JP2019177450A (ja) 2018-03-30 2019-10-17 日本電産株式会社 キャリブレーション精度の評価方法及び評価装置
JP2019217571A (ja) 2018-06-15 2019-12-26 オムロン株式会社 ロボット制御システム

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0774964B2 (ja) * 1987-06-25 1995-08-09 日本鋼管株式会社 ロボットの位置決め誤差補正方法
JPH05277973A (ja) * 1991-12-25 1993-10-26 Sanyo Electric Co Ltd マニピュレータのキャリブレーション方法
US9211643B1 (en) * 2014-06-25 2015-12-15 Microsoft Technology Licensing, Llc Automatic in-situ registration and calibration of robotic arm/sensor/workspace system
US11065768B2 (en) * 2018-11-01 2021-07-20 TE Connectivity Services Gmbh Automatic calibration for camera-robot system with tool offsets

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009142903A (ja) 2007-12-11 2009-07-02 Denso Wave Inc ロボット制御装置
JP2010172986A (ja) 2009-01-28 2010-08-12 Fuji Electric Holdings Co Ltd ロボットビジョンシステムおよび自動キャリブレーション方法
JP2018094653A (ja) 2016-12-09 2018-06-21 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
JP2019177450A (ja) 2018-03-30 2019-10-17 日本電産株式会社 キャリブレーション精度の評価方法及び評価装置
JP2019217571A (ja) 2018-06-15 2019-12-26 オムロン株式会社 ロボット制御システム
CN110148187A (zh) 2019-06-04 2019-08-20 郑州大学 一种SCARA机械手Eye-in-Hand的高精度手眼标定方法和系统

Also Published As

Publication number Publication date
WO2023013739A1 (ja) 2023-02-09
EP4382260A4 (en) 2025-08-13
EP4382260A1 (en) 2024-06-12
JPWO2023013739A1 (https=) 2023-02-09
CN117769483A (zh) 2024-03-26
US20240342917A1 (en) 2024-10-17

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