JP7597906B2 - ロボットの設置位置測定方法、ロボット制御装置、教示システムおよびシミュレーション装置 - Google Patents

ロボットの設置位置測定方法、ロボット制御装置、教示システムおよびシミュレーション装置 Download PDF

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Publication number
JP7597906B2
JP7597906B2 JP2023502484A JP2023502484A JP7597906B2 JP 7597906 B2 JP7597906 B2 JP 7597906B2 JP 2023502484 A JP2023502484 A JP 2023502484A JP 2023502484 A JP2023502484 A JP 2023502484A JP 7597906 B2 JP7597906 B2 JP 7597906B2
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coordinate system
robot
tool
error
position information
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JPWO2022181688A1 (https=
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邦彦 原田
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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
    • 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
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B25J19/0037—Means for supplying energy to the end effector arranged within the different robot elements comprising a light beam pathway, e.g. laser
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-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
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program 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—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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
JP2023502484A 2021-02-26 2022-02-24 ロボットの設置位置測定方法、ロボット制御装置、教示システムおよびシミュレーション装置 Active JP7597906B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021029889 2021-02-26
JP2021029889 2021-02-26
PCT/JP2022/007600 WO2022181688A1 (ja) 2021-02-26 2022-02-24 ロボットの設置位置測定装置、設置位置測定方法、ロボット制御装置、教示システムおよびシミュレーション装置

Publications (2)

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JPWO2022181688A1 JPWO2022181688A1 (https=) 2022-09-01
JP7597906B2 true JP7597906B2 (ja) 2024-12-10

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JP2023502484A Active JP7597906B2 (ja) 2021-02-26 2022-02-24 ロボットの設置位置測定方法、ロボット制御装置、教示システムおよびシミュレーション装置

Country Status (5)

Country Link
US (1) US12479096B2 (https=)
JP (1) JP7597906B2 (https=)
CN (1) CN116867615A (https=)
DE (1) DE112022000393T5 (https=)
WO (1) WO2022181688A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022025059A1 (ja) * 2020-07-29 2022-02-03 ファナック株式会社 ロボットシステム
WO2024053026A1 (ja) * 2022-09-07 2024-03-14 ファナック株式会社 プラントモデル生成装置及びコンピュータ読み取り可能な記録媒体
DE102023205411A1 (de) 2023-06-12 2024-12-12 Robert Bosch Gesellschaft mit beschränkter Haftung Computerimplementiertes Verfahren zum Steuern eines robotischen Systems und robotisches System

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006110705A (ja) 2004-09-15 2006-04-27 Yaskawa Electric Corp ロボットのキャリブレーション方法
US20090118864A1 (en) 2007-11-01 2009-05-07 Bryce Eldridge Method and system for finding a tool center point for a robot using an external camera
JP2011230243A (ja) 2010-04-28 2011-11-17 Yaskawa Electric Corp ロボットの教示手順校正装置および方法
JP2015182144A (ja) 2014-03-20 2015-10-22 キヤノン株式会社 ロボットシステムおよびロボットシステムの校正方法
CN110640746A (zh) 2019-11-07 2020-01-03 上海电气集团股份有限公司 机器人的坐标系标定及定位方法、系统、设备、介质

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JPH0386484A (ja) * 1989-08-25 1991-04-11 Fujitsu Ltd ロボットの遠隔操作装置
JP2520324B2 (ja) * 1990-09-20 1996-07-31 株式会社不二越 ロボット定数の自動補正方法
JP4968604B2 (ja) 2006-06-21 2012-07-04 トヨタ自動車株式会社 姿勢角決定装置およびその決定方法
CA2634776A1 (en) * 2007-02-06 2008-08-06 Abb K.K. Paint coating system
JP4256440B2 (ja) * 2007-08-10 2009-04-22 ファナック株式会社 ロボットプログラム調整装置
JP5715809B2 (ja) * 2010-03-29 2015-05-13 株式会社ダイヘン ロボットの作業プログラム作成方法、ロボットの作業プログラム作成装置、及びロボット制御システム
JP2011224672A (ja) 2010-04-15 2011-11-10 Kobe Steel Ltd ロボットのツールベクトルの導出方法及び較正方法
EP3421167A1 (de) * 2017-06-26 2019-01-02 Fronius International GmbH Verfahren und vorrichtung zur abtastung einer werkstückoberfläche eines metallischen werkstückes
JP6603289B2 (ja) 2017-10-27 2019-11-06 ファナック株式会社 ロボット、ロボットシステム、およびロボットの座標系設定方法
CN110709024A (zh) * 2017-11-21 2020-01-17 直观外科手术操作公司 用于直观运动的主/工具配准和控制的系统和方法
CN118438439A (zh) * 2018-10-22 2024-08-06 直观外科手术操作公司 用于主机/工具配准和控制以进行直观运动的系统和方法
JP7359657B2 (ja) * 2019-11-07 2023-10-11 ファナック株式会社 ロボットの位置または姿勢の修正方法を判定する制御装置
JP7436675B2 (ja) 2020-07-29 2024-02-22 ファナック株式会社 ロボット制御装置
US11885770B2 (en) * 2021-01-27 2024-01-30 The Boeing Company Measurement probe edge guide tool

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006110705A (ja) 2004-09-15 2006-04-27 Yaskawa Electric Corp ロボットのキャリブレーション方法
US20090118864A1 (en) 2007-11-01 2009-05-07 Bryce Eldridge Method and system for finding a tool center point for a robot using an external camera
JP2011230243A (ja) 2010-04-28 2011-11-17 Yaskawa Electric Corp ロボットの教示手順校正装置および方法
JP2015182144A (ja) 2014-03-20 2015-10-22 キヤノン株式会社 ロボットシステムおよびロボットシステムの校正方法
CN110640746A (zh) 2019-11-07 2020-01-03 上海电气集团股份有限公司 机器人的坐标系标定及定位方法、系统、设备、介质

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Publication number Publication date
JPWO2022181688A1 (https=) 2022-09-01
US12479096B2 (en) 2025-11-25
WO2022181688A1 (ja) 2022-09-01
US20240091940A1 (en) 2024-03-21
CN116867615A (zh) 2023-10-10
DE112022000393T5 (de) 2023-11-23
TW202233366A (zh) 2022-09-01

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