JP7772797B2 - ロボットシステム - Google Patents

ロボットシステム

Info

Publication number
JP7772797B2
JP7772797B2 JP2023537831A JP2023537831A JP7772797B2 JP 7772797 B2 JP7772797 B2 JP 7772797B2 JP 2023537831 A JP2023537831 A JP 2023537831A JP 2023537831 A JP2023537831 A JP 2023537831A JP 7772797 B2 JP7772797 B2 JP 7772797B2
Authority
JP
Japan
Prior art keywords
torque
reduction
series data
time series
robot system
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
JP2023537831A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2023007634A1 (https=
Inventor
直幹 藤岡
一貴 若林
慶太 巣山
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.)
Fanuc Corp
Original Assignee
Fanuc 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 Fanuc Corp filed Critical Fanuc Corp
Publication of JPWO2023007634A1 publication Critical patent/JPWO2023007634A1/ja
Application granted granted Critical
Publication of JP7772797B2 publication Critical patent/JP7772797B2/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
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • B25J13/085—Force or torque sensors
    • 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
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/01—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance
    • F16H2057/018—Detection of mechanical transmission failures
    • 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
    • G05B2219/40599—Force, torque sensor integrated in joint

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
JP2023537831A 2021-07-28 2021-07-28 ロボットシステム Active JP7772797B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/027965 WO2023007634A1 (ja) 2021-07-28 2021-07-28 ロボットシステム

Publications (2)

Publication Number Publication Date
JPWO2023007634A1 JPWO2023007634A1 (https=) 2023-02-02
JP7772797B2 true JP7772797B2 (ja) 2025-11-18

Family

ID=85087700

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023537831A Active JP7772797B2 (ja) 2021-07-28 2021-07-28 ロボットシステム

Country Status (6)

Country Link
US (1) US20240278428A1 (https=)
JP (1) JP7772797B2 (https=)
CN (1) CN117651632A (https=)
DE (1) DE112021007501T5 (https=)
TW (1) TW202315730A (https=)
WO (1) WO2023007634A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2025025084A (ja) * 2023-08-08 2025-02-21 ニデックドライブテクノロジー株式会社 制御ユニット、駆動装置、および制御方法

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006281421A (ja) 2005-04-05 2006-10-19 Yaskawa Electric Corp ロボットおよびロボットの異常検出方法
JP2008032477A (ja) 2006-07-27 2008-02-14 Fanuc Ltd 減速機異常診断方法及び減速機異常診断装置
US20080191654A1 (en) 2006-11-30 2008-08-14 Abb Research Ltd. Method and device for monitoring the condition of an industrial robot
JP2012194035A (ja) 2011-03-16 2012-10-11 Toyota Motor Corp 減速機異常診断装置および減速機異常診断方法
WO2015133291A1 (ja) 2014-03-06 2015-09-11 ソニー株式会社 アクチュエータ及びロボットアーム装置
WO2016189608A1 (ja) 2015-05-25 2016-12-01 日産自動車株式会社 故障診断装置及び故障診断方法
JP2017007023A (ja) 2015-06-19 2017-01-12 ライフロボティクス株式会社 ロボット装置及びモータ制御装置
WO2019234788A1 (ja) 2018-06-04 2019-12-12 日産自動車株式会社 異常検出装置及び異常検出方法
JP2020097078A (ja) 2018-12-17 2020-06-25 キヤノン株式会社 ロボット装置、ロボット装置の制御方法、ロボット装置を用いた物品の製造方法、検出装置、制御プログラム及び記録媒体
JP2020110877A (ja) 2019-01-11 2020-07-27 キヤノン株式会社 ロボット診断方法、ロボット診断装置、制御プログラム、記録媒体、生産システム、および物品の製造方法
WO2020194597A1 (ja) 2019-03-27 2020-10-01 日産自動車株式会社 異常検知装置、及び異常検知方法

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JPS5927440U (ja) 1982-08-12 1984-02-20 株式会社明電舎 シヤシダイナモメ−タ
JP2001341092A (ja) * 2000-06-02 2001-12-11 Sharp Corp 多関節ロボットおよび多関節ロボットの位置教示方法
JP4269150B2 (ja) * 2003-05-20 2009-05-27 株式会社安川電機 ロボット制御装置
JP2006077980A (ja) * 2004-08-11 2006-03-23 Nabtesco Corp 産業ロボットの関節部に取り付けられる減速機
JP5177502B2 (ja) * 2008-01-07 2013-04-03 本田技研工業株式会社 アクチュエータおよびロボット
JP6210915B2 (ja) * 2014-03-24 2017-10-11 東芝三菱電機産業システム株式会社 誘導電動機駆動システム
CN104537244B (zh) * 2014-12-31 2017-08-01 大连理工大学 一种多自由度机器人腕部电机、减速器的计算与选型方法
JP6843541B2 (ja) * 2016-07-27 2021-03-17 キヤノン株式会社 駆動機構、ロボット装置、物品の製造方法、及び制御方法
JP6860417B2 (ja) * 2017-05-18 2021-04-14 川崎重工業株式会社 減速機角度伝達誤差同定システム及び減速機角度伝達誤差同定方法
EP3752119B1 (en) * 2018-02-17 2025-06-11 President And Fellows Of Harvard College Wearable devices for protecting against musculoskeletal injuries and enhancing performance
JP7267688B2 (ja) * 2018-05-31 2023-05-02 キヤノン株式会社 ロボットシステム、ロボットアームの制御方法、物品の製造方法、駆動装置および駆動装置の制御方法
CN112805536A (zh) * 2018-09-24 2021-05-14 株式会社尼康 编码器、驱动装置、机器人装置、控制系统及其控制方法
JP2020053550A (ja) * 2018-09-27 2020-04-02 株式会社荏原製作所 研磨装置、研磨方法、及び機械学習装置
JP7391523B2 (ja) * 2019-03-22 2023-12-05 キヤノン株式会社 制御装置、ロボットシステム、制御方法、物品の製造方法、プログラム、及び記録媒体
WO2020246005A1 (ja) * 2019-06-06 2020-12-10 三菱電機株式会社 パラメータ算出装置、ロボット制御システム、ロボットシステム
JP7443013B2 (ja) * 2019-10-04 2024-03-05 株式会社ダイヘン ロボット制御装置

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006281421A (ja) 2005-04-05 2006-10-19 Yaskawa Electric Corp ロボットおよびロボットの異常検出方法
JP2008032477A (ja) 2006-07-27 2008-02-14 Fanuc Ltd 減速機異常診断方法及び減速機異常診断装置
US20080191654A1 (en) 2006-11-30 2008-08-14 Abb Research Ltd. Method and device for monitoring the condition of an industrial robot
JP2012194035A (ja) 2011-03-16 2012-10-11 Toyota Motor Corp 減速機異常診断装置および減速機異常診断方法
WO2015133291A1 (ja) 2014-03-06 2015-09-11 ソニー株式会社 アクチュエータ及びロボットアーム装置
WO2016189608A1 (ja) 2015-05-25 2016-12-01 日産自動車株式会社 故障診断装置及び故障診断方法
JP2017007023A (ja) 2015-06-19 2017-01-12 ライフロボティクス株式会社 ロボット装置及びモータ制御装置
WO2019234788A1 (ja) 2018-06-04 2019-12-12 日産自動車株式会社 異常検出装置及び異常検出方法
JP2020097078A (ja) 2018-12-17 2020-06-25 キヤノン株式会社 ロボット装置、ロボット装置の制御方法、ロボット装置を用いた物品の製造方法、検出装置、制御プログラム及び記録媒体
JP2020110877A (ja) 2019-01-11 2020-07-27 キヤノン株式会社 ロボット診断方法、ロボット診断装置、制御プログラム、記録媒体、生産システム、および物品の製造方法
WO2020194597A1 (ja) 2019-03-27 2020-10-01 日産自動車株式会社 異常検知装置、及び異常検知方法

Also Published As

Publication number Publication date
TW202315730A (zh) 2023-04-16
WO2023007634A1 (ja) 2023-02-02
CN117651632A (zh) 2024-03-05
US20240278428A1 (en) 2024-08-22
JPWO2023007634A1 (https=) 2023-02-02
DE112021007501T5 (de) 2024-04-04

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