JP7660686B2 - 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

Info

Publication number
JP7660686B2
JP7660686B2 JP2023540415A JP2023540415A JP7660686B2 JP 7660686 B2 JP7660686 B2 JP 7660686B2 JP 2023540415 A JP2023540415 A JP 2023540415A JP 2023540415 A JP2023540415 A JP 2023540415A JP 7660686 B2 JP7660686 B2 JP 7660686B2
Authority
JP
Japan
Prior art keywords
robot
spatial information
control unit
calibration
information acquisition
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
JP2023540415A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2023013740A5 (https=
JPWO2023013740A1 (https=
Inventor
フィデリア グラシア
雅人 森
真洋 内竹
敬之 石田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kyocera Corp
Original Assignee
Kyocera 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 Kyocera Corp filed Critical Kyocera Corp
Publication of JPWO2023013740A1 publication Critical patent/JPWO2023013740A1/ja
Publication of JPWO2023013740A5 publication Critical patent/JPWO2023013740A5/ja
Application granted granted Critical
Publication of JP7660686B2 publication Critical patent/JP7660686B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
JP2023540415A 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 JP7660686B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021128475 2021-08-04
JP2021128475 2021-08-04
PCT/JP2022/030011 WO2023013740A1 (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)

Publication Number Publication Date
JPWO2023013740A1 JPWO2023013740A1 (https=) 2023-02-09
JPWO2023013740A5 JPWO2023013740A5 (https=) 2024-04-25
JP7660686B2 true JP7660686B2 (ja) 2025-04-11

Family

ID=85155783

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023540415A Active JP7660686B2 (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) US20240342918A1 (https=)
EP (1) EP4382261A4 (https=)
JP (1) JP7660686B2 (https=)
CN (1) CN117794704A (https=)
WO (1) WO2023013740A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7423851B1 (ja) 2023-10-31 2024-01-29 株式会社ダイヘン 端末装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015129473A1 (ja) 2014-02-28 2015-09-03 ソニー株式会社 ロボットアーム装置、キャリブレーション方法及びプログラム
JP2018111166A (ja) 2017-01-12 2018-07-19 ファナック株式会社 視覚センサのキャリブレーション装置、方法及びプログラム
JP2018114578A (ja) 2017-01-17 2018-07-26 ファナック株式会社 ロボット制御装置
CN111195915A (zh) 2020-01-20 2020-05-26 深圳龙岗智能视听研究院 一种基于遗传算法的机械臂绝对定位精度标定方法及系统
US20200298403A1 (en) 2016-03-29 2020-09-24 Cognibotics Ab Method, constraining device and system for determining geometric properties of a manipulator

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8170287B2 (en) * 2007-10-26 2012-05-01 Honda Motor Co., Ltd. Real-time self collision and obstacle avoidance
JP2013215867A (ja) * 2012-04-12 2013-10-24 Seiko Epson Corp ロボット制御装置、ロボット制御方法、ロボット制御プログラム、ロボット
JP6420296B2 (ja) * 2016-12-01 2018-11-07 ファナック株式会社 ロボットの干渉領域を自動で設定するロボット制御装置
CN112454332B (zh) * 2020-11-25 2022-02-22 中科新松有限公司 一种用于手眼标定的机器人轨迹点生成方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015129473A1 (ja) 2014-02-28 2015-09-03 ソニー株式会社 ロボットアーム装置、キャリブレーション方法及びプログラム
US20200298403A1 (en) 2016-03-29 2020-09-24 Cognibotics Ab Method, constraining device and system for determining geometric properties of a manipulator
JP2018111166A (ja) 2017-01-12 2018-07-19 ファナック株式会社 視覚センサのキャリブレーション装置、方法及びプログラム
JP2018114578A (ja) 2017-01-17 2018-07-26 ファナック株式会社 ロボット制御装置
CN111195915A (zh) 2020-01-20 2020-05-26 深圳龙岗智能视听研究院 一种基于遗传算法的机械臂绝对定位精度标定方法及系统

Also Published As

Publication number Publication date
WO2023013740A1 (ja) 2023-02-09
US20240342918A1 (en) 2024-10-17
EP4382261A4 (en) 2025-08-13
CN117794704A (zh) 2024-03-29
EP4382261A1 (en) 2024-06-12
JPWO2023013740A1 (https=) 2023-02-09

Similar Documents

Publication Publication Date Title
CN112672860B (zh) 用于ar和数字孪生的机器人校准
JP6966582B2 (ja) ロボットモーション用のビジョンシステムの自動ハンドアイ校正のためのシステム及び方法
JP6855492B2 (ja) ロボットシステム、ロボットシステム制御装置、およびロボットシステム制御方法
JP6180087B2 (ja) 情報処理装置及び情報処理方法
JP5949242B2 (ja) ロボットシステム、ロボット、ロボット制御装置、ロボット制御方法、およびロボット制御プログラム
EP2636493B1 (en) Information processing apparatus and information processing method
JP5815761B2 (ja) 視覚センサのデータ作成システム及び検出シミュレーションシステム
JP2016099257A (ja) 情報処理装置及び情報処理方法
JP6855491B2 (ja) ロボットシステム、ロボットシステム制御装置、およびロボットシステム制御方法
JP2005300230A (ja) 計測装置
JP7112528B2 (ja) 作業座標作成装置
JP2019098409A (ja) ロボットシステムおよびキャリブレーション方法
JP7660686B2 (ja) 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
JP7657936B2 (ja) 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
JP7583942B2 (ja) 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
CN116390834A (zh) 机器人系统
JP7519222B2 (ja) 画像処理装置
JP2005186193A (ja) ロボットのキャリブレーション方法および三次元位置計測方法
US20240346674A1 (en) Information processing device, information processing method, imaging device, and information processing system
US20250001594A1 (en) Robot control device, robot control system, and robot control method
JP2022162340A (ja) ピッキング装置
WO2024062535A1 (ja) ロボット制御装置
WO2024135220A1 (ja) ロボット制御システム
JP2021091070A (ja) ロボット制御装置

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240201

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20240201

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20241217

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20250214

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20250311

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20250401

R150 Certificate of patent or registration of utility model

Ref document number: 7660686

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150