JPWO2021210456A1 - - Google Patents

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Publication number
JPWO2021210456A1
JPWO2021210456A1 JP2022515324A JP2022515324A JPWO2021210456A1 JP WO2021210456 A1 JPWO2021210456 A1 JP WO2021210456A1 JP 2022515324 A JP2022515324 A JP 2022515324A JP 2022515324 A JP2022515324 A JP 2022515324A JP WO2021210456 A1 JPWO2021210456 A1 JP WO2021210456A1
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.)
Granted
Application number
JP2022515324A
Other languages
Japanese (ja)
Other versions
JP7817152B2 (ja
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 filed Critical
Publication of JPWO2021210456A1 publication Critical patent/JPWO2021210456A1/ja
Application granted granted Critical
Publication of JP7817152B2 publication Critical patent/JP7817152B2/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
    • B25J9/1694—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
    • 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
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • 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
    • G05B2219/39045—Camera on end effector detects reference pattern

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
JP2022515324A 2020-04-13 2021-04-06 ロボットの制御座標系における視覚センサの位置を取得する装置、ロボットシステム、方法、及びコンピュータプログラム Active JP7817152B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020071864 2020-04-13
JP2020071864 2020-04-13
PCT/JP2021/014676 WO2021210456A1 (ja) 2020-04-13 2021-04-06 ロボットの制御座標系における視覚センサの位置を取得する装置、ロボットシステム、方法、及びコンピュータプログラム

Publications (2)

Publication Number Publication Date
JPWO2021210456A1 true JPWO2021210456A1 (https=) 2021-10-21
JP7817152B2 JP7817152B2 (ja) 2026-02-18

Family

ID=78083921

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022515324A Active JP7817152B2 (ja) 2020-04-13 2021-04-06 ロボットの制御座標系における視覚センサの位置を取得する装置、ロボットシステム、方法、及びコンピュータプログラム

Country Status (5)

Country Link
US (1) US20230339117A1 (https=)
JP (1) JP7817152B2 (https=)
CN (1) CN115397634B (https=)
DE (1) DE112021002301T5 (https=)
WO (1) WO2021210456A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114986522B (zh) * 2022-08-01 2022-11-08 季华实验室 一种机械臂的定位方法、抓取方法、电子设备及存储介质
WO2024164288A1 (en) * 2023-02-10 2024-08-15 Abb Schweiz Ag Method and system for calibrating sensor with respect to robot
CN121492075B (zh) * 2026-01-14 2026-04-07 上海集迦电子科技有限公司 机械手的偏移校准方法和系统

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH054180A (ja) * 1991-06-27 1993-01-14 Toyota Autom Loom Works Ltd ハンドアイ付き多軸ロボツトの座標系整合方法
JP2018001332A (ja) * 2016-06-30 2018-01-11 セイコーエプソン株式会社 ロボット、制御装置、及びロボットシステム
JP2019014031A (ja) * 2017-07-11 2019-01-31 セイコーエプソン株式会社 ロボットの制御装置、ロボット、ロボットシステム、並びに、ロボット用カメラの校正方法

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003211381A (ja) * 2002-01-16 2003-07-29 Denso Wave Inc ロボット制御装置
JP4021413B2 (ja) 2004-01-16 2007-12-12 ファナック株式会社 計測装置
JP4191080B2 (ja) 2004-04-07 2008-12-03 ファナック株式会社 計測装置
JP4967858B2 (ja) 2007-06-29 2012-07-04 日産自動車株式会社 カメラとロボット間のキャリブレーション方法及びその装置
JP5574805B2 (ja) * 2010-04-28 2014-08-20 株式会社ダイヘン 視覚センサを有するマニピュレータのセンサキャリブレーション方法及びロボット制御システム
JP5516974B2 (ja) * 2010-07-07 2014-06-11 株式会社Ｉｈｉ 視覚センサのマウント装置と方法
CN102350700A (zh) * 2011-09-19 2012-02-15 华南理工大学 一种基于视觉的机器人控制方法
JP5845212B2 (ja) * 2013-06-28 2016-01-20 ファナック株式会社 視覚センサ及び力センサを備えたバリ取り装置
JP6429473B2 (ja) * 2014-03-20 2018-11-28 キヤノン株式会社 ロボットシステム、ロボットシステムの校正方法、プログラム、およびコンピュータ読み取り可能な記録媒体
US10551821B2 (en) * 2016-06-30 2020-02-04 Seiko Epson Corporation Robot, robot control apparatus and robot system
JP6568165B2 (ja) * 2017-08-14 2019-08-28 ファナック株式会社 ロボットシステム及びロボット制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH054180A (ja) * 1991-06-27 1993-01-14 Toyota Autom Loom Works Ltd ハンドアイ付き多軸ロボツトの座標系整合方法
JP2018001332A (ja) * 2016-06-30 2018-01-11 セイコーエプソン株式会社 ロボット、制御装置、及びロボットシステム
JP2019014031A (ja) * 2017-07-11 2019-01-31 セイコーエプソン株式会社 ロボットの制御装置、ロボット、ロボットシステム、並びに、ロボット用カメラの校正方法

Also Published As

Publication number Publication date
CN115397634B (zh) 2025-09-12
US20230339117A1 (en) 2023-10-26
JP7817152B2 (ja) 2026-02-18
DE112021002301T5 (de) 2023-03-23
WO2021210456A1 (ja) 2021-10-21
CN115397634A (zh) 2022-11-25

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