JP7842202B2 - ロボットシステム - Google Patents

ロボットシステム

Info

Publication number
JP7842202B2
JP7842202B2 JP2024511139A JP2024511139A JP7842202B2 JP 7842202 B2 JP7842202 B2 JP 7842202B2 JP 2024511139 A JP2024511139 A JP 2024511139A JP 2024511139 A JP2024511139 A JP 2024511139A JP 7842202 B2 JP7842202 B2 JP 7842202B2
Authority
JP
Japan
Prior art keywords
model
workpiece
work
hand
robot
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
JP2024511139A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2023188407A1 (https=
Inventor
渉 遠山
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 JPWO2023188407A1 publication Critical patent/JPWO2023188407A1/ja
Application granted granted Critical
Publication of JP7842202B2 publication Critical patent/JP7842202B2/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
    • B25J9/16—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
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B25J13/089—Determining the position of the robot with reference to its environment
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • 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
    • G05B2219/39484—Locate, reach and grasp, visual guided grasping
    • 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
    • G05B2219/40053—Pick 3-D object from pile of objects
    • 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
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2024511139A 2022-03-31 2022-03-31 ロボットシステム Active JP7842202B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/016931 WO2023188407A1 (ja) 2022-03-31 2022-03-31 ロボットシステム

Publications (2)

Publication Number Publication Date
JPWO2023188407A1 JPWO2023188407A1 (https=) 2023-10-05
JP7842202B2 true JP7842202B2 (ja) 2026-04-07

Family

ID=88200460

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2024511139A Active JP7842202B2 (ja) 2022-03-31 2022-03-31 ロボットシステム

Country Status (6)

Country Link
US (1) US20250196351A1 (https=)
JP (1) JP7842202B2 (https=)
CN (1) CN118900752A (https=)
DE (1) DE112022005601T5 (https=)
TW (1) TW202339917A (https=)
WO (1) WO2023188407A1 (https=)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6407927B2 (ja) 2015-11-12 2018-10-17 株式会社東芝 搬送装置、搬送システム、搬送方法、制御装置、およびプログラム
JP6489894B2 (ja) 2015-03-27 2019-03-27 ファナック株式会社 対象物の取出経路を補正する機能を有するロボットシステム
JP2021020285A (ja) 2019-07-29 2021-02-18 株式会社キーエンス ロボット設定装置及びロボット設定方法

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4153528B2 (ja) * 2006-03-10 2008-09-24 ファナック株式会社 ロボットシミュレーションのための装置、プログラム、記録媒体及び方法
JP4238256B2 (ja) * 2006-06-06 2009-03-18 ファナック株式会社 ロボットシミュレーション装置
US9233470B1 (en) * 2013-03-15 2016-01-12 Industrial Perception, Inc. Determining a virtual representation of an environment by projecting texture patterns
JP5897624B2 (ja) * 2014-03-12 2016-03-30 ファナック株式会社 ワークの取出工程をシミュレーションするロボットシミュレーション装置
JP6450726B2 (ja) * 2016-10-26 2019-01-09 ファナック株式会社 ロボットの動作をシミュレーションするシミュレーション装置、およびシミュレーション方法
EP3593960A4 (en) * 2017-03-06 2020-01-22 Fuji Corporation DATA STRUCTURE FOR CREATING IMAGE PROCESSING DATA AND METHOD FOR CREATING IMAGE PROCESSING DATA
JP7180856B2 (ja) 2017-12-27 2022-11-30 株式会社三和 包装用容器
US11607810B2 (en) * 2018-09-13 2023-03-21 The Charles Stark Draper Laboratory, Inc. Adaptor for food-safe, bin-compatible, washable, tool-changer utensils
US11020854B2 (en) * 2019-11-05 2021-06-01 Mujin, Inc. Robotic system with wall-based packing mechanism and methods of operating same
US11938638B2 (en) * 2020-12-31 2024-03-26 Google Llc Simulation driven robotic control of real robot(s)
US20230182315A1 (en) * 2021-12-10 2023-06-15 Boston Dynamics, Inc. Systems and methods for object detection and pick order determination

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6489894B2 (ja) 2015-03-27 2019-03-27 ファナック株式会社 対象物の取出経路を補正する機能を有するロボットシステム
JP6407927B2 (ja) 2015-11-12 2018-10-17 株式会社東芝 搬送装置、搬送システム、搬送方法、制御装置、およびプログラム
JP2021020285A (ja) 2019-07-29 2021-02-18 株式会社キーエンス ロボット設定装置及びロボット設定方法

Also Published As

Publication number Publication date
WO2023188407A1 (ja) 2023-10-05
JPWO2023188407A1 (https=) 2023-10-05
TW202339917A (zh) 2023-10-16
CN118900752A (zh) 2024-11-05
US20250196351A1 (en) 2025-06-19
DE112022005601T5 (de) 2024-09-19

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