JP7739592B2 - ロボットの制御方法及びロボット - Google Patents

ロボットの制御方法及びロボット

Info

Publication number
JP7739592B2
JP7739592B2 JP2024506348A JP2024506348A JP7739592B2 JP 7739592 B2 JP7739592 B2 JP 7739592B2 JP 2024506348 A JP2024506348 A JP 2024506348A JP 2024506348 A JP2024506348 A JP 2024506348A JP 7739592 B2 JP7739592 B2 JP 7739592B2
Authority
JP
Japan
Prior art keywords
end effector
robot
plate
robot arm
move
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
JP2024506348A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2023171675A5 (https=
JPWO2023171675A1 (https=
Inventor
仁 久保
俊哉 南
夏樹 大谷
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.)
Kawasaki Motors Ltd
Original Assignee
Kawasaki Jukogyo KK
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 Kawasaki Jukogyo KK filed Critical Kawasaki Jukogyo KK
Publication of JPWO2023171675A1 publication Critical patent/JPWO2023171675A1/ja
Publication of JPWO2023171675A5 publication Critical patent/JPWO2023171675A5/ja
Priority to JP2025146268A priority Critical patent/JP2025183266A/ja
Application granted granted Critical
Publication of JP7739592B2 publication Critical patent/JP7739592B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of 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
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • 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
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • G05B2219/39109—Dual arm, multiarm manipulation, object handled in cooperation
    • 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
    • G05B2219/39121—Two manipulators operate on same object
    • 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
    • G05B2219/40411—Robot assists human in non-industrial environment like home or office

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2024506348A 2022-03-08 2023-03-07 ロボットの制御方法及びロボット Active JP7739592B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2025146268A JP2025183266A (ja) 2022-03-08 2025-09-03 ロボット

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP2022035737 2022-03-08
JP2022035737 2022-03-08
JP2022068518 2022-04-18
JP2022068518 2022-04-18
PCT/JP2023/008614 WO2023171675A1 (ja) 2022-03-08 2023-03-07 ロボットの制御方法及びロボット

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2025146268A Division JP2025183266A (ja) 2022-03-08 2025-09-03 ロボット

Publications (3)

Publication Number Publication Date
JPWO2023171675A1 JPWO2023171675A1 (https=) 2023-09-14
JPWO2023171675A5 JPWO2023171675A5 (https=) 2024-09-18
JP7739592B2 true JP7739592B2 (ja) 2025-09-16

Family

ID=87935103

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2024506348A Active JP7739592B2 (ja) 2022-03-08 2023-03-07 ロボットの制御方法及びロボット
JP2025146268A Pending JP2025183266A (ja) 2022-03-08 2025-09-03 ロボット

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2025146268A Pending JP2025183266A (ja) 2022-03-08 2025-09-03 ロボット

Country Status (5)

Country Link
US (1) US20250229425A1 (https=)
EP (1) EP4491352A4 (https=)
JP (2) JP7739592B2 (https=)
KR (1) KR20240155877A (https=)
WO (1) WO2023171675A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20240131581A (ko) * 2023-02-24 2024-09-02 한국전자통신연구원 모바일 로봇 및 협동 로봇 기반의 모바일 매니퓰레이터를 위한 티칭 디바이스 및 이의 인터페이스 설정 방법

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020150450A1 (en) 2000-02-01 2002-10-17 Bevirt Joeben Robot mounted barcode reader
JP2007098501A (ja) 2005-10-04 2007-04-19 Yaskawa Electric Corp ロボットシステム
JP2009214194A (ja) 2008-03-07 2009-09-24 Okura Yusoki Co Ltd 積付装置および積付方法
JP2018008820A (ja) 2016-07-05 2018-01-18 川崎重工業株式会社 ワーク搬送装置およびその運転方法
JP2021519701A (ja) 2018-04-08 2021-08-12 AIrobot株式会社 自律移動搬送ロボット及びそのチャック並びに作動機構

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08206984A (ja) * 1995-02-03 1996-08-13 Canon Inc 移載ハンド及び移載方法
JPH09142662A (ja) * 1995-11-16 1997-06-03 Komori Corp パレタイジング装置
JP4456561B2 (ja) * 2005-12-12 2010-04-28 本田技研工業株式会社 自律移動ロボット
CN107186727B (zh) * 2017-06-15 2021-04-20 东北大学 一种餐厅运餐车
JP3228266U (ja) * 2017-06-19 2020-10-22 ジョンルイ フーニン ロボティクス （シェンヤン） カンパニー リミテッド 人との社会的相互作用のための行為を実施するように構成されたロボット
JP7308081B2 (ja) * 2019-06-04 2023-07-13 Thk株式会社 搬送システム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020150450A1 (en) 2000-02-01 2002-10-17 Bevirt Joeben Robot mounted barcode reader
JP2007098501A (ja) 2005-10-04 2007-04-19 Yaskawa Electric Corp ロボットシステム
JP2009214194A (ja) 2008-03-07 2009-09-24 Okura Yusoki Co Ltd 積付装置および積付方法
JP2018008820A (ja) 2016-07-05 2018-01-18 川崎重工業株式会社 ワーク搬送装置およびその運転方法
JP2021519701A (ja) 2018-04-08 2021-08-12 AIrobot株式会社 自律移動搬送ロボット及びそのチャック並びに作動機構

Also Published As

Publication number Publication date
US20250229425A1 (en) 2025-07-17
EP4491352A4 (en) 2025-06-18
KR20240155877A (ko) 2024-10-29
EP4491352A1 (en) 2025-01-15
JPWO2023171675A1 (https=) 2023-09-14
JP2025183266A (ja) 2025-12-16
WO2023171675A1 (ja) 2023-09-14

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