JPWO2021064809A1 - - Google Patents
Info
- Publication number
- JPWO2021064809A1 JPWO2021064809A1 JP2021550766A JP2021550766A JPWO2021064809A1 JP WO2021064809 A1 JPWO2021064809 A1 JP WO2021064809A1 JP 2021550766 A JP2021550766 A JP 2021550766A JP 2021550766 A JP2021550766 A JP 2021550766A JP WO2021064809 A1 JPWO2021064809 A1 JP WO2021064809A1
- Authority
- JP
- Japan
- 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.)
- Pending
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
- B25J9/1694—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
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- 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
- 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
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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
- B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- 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
- G05B19/00—Program-control systems
- G05B19/02—Program-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
- G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program
-
- 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
- G05B19/00—Program-control systems
- G05B19/02—Program-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36401—Record play back, teach position and record it then play back
-
- 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
- G05B2219/39529—Force, torque sensor in wrist, end effector
-
- 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
- G05B2219/40382—Limit allowable area where robot can be teached
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50391—Robot
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2019/038577 WO2021064809A1 (ja) | 2019-09-30 | 2019-09-30 | ロボット制御装置およびロボットの直接教示方法 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPWO2021064809A1 true JPWO2021064809A1 (https=) | 2021-04-08 |
Family
ID=75337830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2021550766A Pending JPWO2021064809A1 (https=) | 2019-09-30 | 2019-09-30 |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US12138811B2 (https=) |
| JP (1) | JPWO2021064809A1 (https=) |
| WO (1) | WO2021064809A1 (https=) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA3177788A1 (en) * | 2020-06-22 | 2021-12-30 | James E. Welton | Packaging testing device |
| WO2023062737A1 (ja) * | 2021-10-13 | 2023-04-20 | 株式会社Fuji | 超音波診断システムおよびその監視方法 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63260779A (ja) * | 1987-04-20 | 1988-10-27 | 富士通株式会社 | 直接教示制御方式 |
| JPH09141580A (ja) * | 1995-11-22 | 1997-06-03 | Yaskawa Electric Corp | 直接教示ロボットの動作範囲制限装置 |
| JPH11347983A (ja) * | 1998-06-11 | 1999-12-21 | Meidensha Corp | マニプレータの動作制限装置 |
| JP2011245614A (ja) * | 2010-05-26 | 2011-12-08 | GM Global Technology Operations LLC | 速度制御ロボット機構におけるワークスペース制限の応用 |
| JP2014217913A (ja) * | 2013-05-08 | 2014-11-20 | パナソニック株式会社 | パラレルリンクロボットの動作教示方法およびパラレルリンクロボット |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101909829B (zh) * | 2008-02-28 | 2012-08-29 | 松下电器产业株式会社 | 机器人手臂的控制装置及控制方法、机器人、机器人手臂的控制程序、及机器人手臂控制用集成电子电路 |
| JP6520478B2 (ja) * | 2015-06-30 | 2019-05-29 | 株式会社デンソーウェーブ | ロボットアームの操作システム |
| US10562191B2 (en) * | 2015-12-29 | 2020-02-18 | Robomotive Laboratories LLC | Method of controlling devices with sensation of applied force |
| JP2017202554A (ja) | 2016-05-12 | 2017-11-16 | 株式会社リコー | マニピュレータ装置の制御装置、マニピュレータ装置の制御方法及びマニピュレータ装置の制御プログラム |
| JP7263724B2 (ja) * | 2018-09-27 | 2023-04-25 | 株式会社デンソーウェーブ | ロボットの制御方法 |
-
2019
- 2019-09-30 WO PCT/JP2019/038577 patent/WO2021064809A1/ja not_active Ceased
- 2019-09-30 US US17/763,015 patent/US12138811B2/en active Active
- 2019-09-30 JP JP2021550766A patent/JPWO2021064809A1/ja active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63260779A (ja) * | 1987-04-20 | 1988-10-27 | 富士通株式会社 | 直接教示制御方式 |
| JPH09141580A (ja) * | 1995-11-22 | 1997-06-03 | Yaskawa Electric Corp | 直接教示ロボットの動作範囲制限装置 |
| JPH11347983A (ja) * | 1998-06-11 | 1999-12-21 | Meidensha Corp | マニプレータの動作制限装置 |
| JP2011245614A (ja) * | 2010-05-26 | 2011-12-08 | GM Global Technology Operations LLC | 速度制御ロボット機構におけるワークスペース制限の応用 |
| JP2014217913A (ja) * | 2013-05-08 | 2014-11-20 | パナソニック株式会社 | パラレルリンクロボットの動作教示方法およびパラレルリンクロボット |
Also Published As
| Publication number | Publication date |
|---|---|
| US12138811B2 (en) | 2024-11-12 |
| US20220347852A1 (en) | 2022-11-03 |
| WO2021064809A1 (ja) | 2021-04-08 |
Similar Documents
Legal Events
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