JPWO2021220394A1 - - Google Patents

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Publication number
JPWO2021220394A1
JPWO2021220394A1 JP2022518481A JP2022518481A JPWO2021220394A1 JP WO2021220394 A1 JPWO2021220394 A1 JP WO2021220394A1 JP 2022518481 A JP2022518481 A JP 2022518481A JP 2022518481 A JP2022518481 A JP 2022518481A JP WO2021220394 A1 JPWO2021220394 A1 JP WO2021220394A1
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
JP2022518481A
Other versions
JP7245959B2 (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 JPWO2021220394A1 publication Critical patent/JPWO2021220394A1/ja
Application granted granted Critical
Publication of JP7245959B2 publication Critical patent/JP7245959B2/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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • 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
    • G05B2219/39543—Recognize object and plan hand shapes in grasping movements
    • 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
    • G05B2219/40543—Identification and location, position of components, 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
    • G05B2219/40584—Camera, non-contact sensor mounted on wrist, indep from gripper
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45063—Pick and place manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Software Systems (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Data Mining & Analysis (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Artificial Intelligence (AREA)
  • Manipulator (AREA)
JP2022518481A 2020-04-28 2020-04-28 機械学習方法およびロボットシステム Active JP7245959B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/018091 WO2021220394A1 (ja) 2020-04-28 2020-04-28 機械学習方法およびロボットシステム

Publications (2)

Publication Number Publication Date
JPWO2021220394A1 true JPWO2021220394A1 (ja) 2021-11-04
JP7245959B2 JP7245959B2 (ja) 2023-03-24

Family

ID=78373446

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022518481A Active JP7245959B2 (ja) 2020-04-28 2020-04-28 機械学習方法およびロボットシステム

Country Status (5)

Country Link
US (1) US20230158667A1 (ja)
JP (1) JP7245959B2 (ja)
CN (1) CN115087522A (ja)
DE (1) DE112020006594B4 (ja)
WO (1) WO2021220394A1 (ja)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115515762A (zh) * 2020-06-09 2022-12-23 发那科株式会社 工件取出装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011110688A (ja) * 2009-11-30 2011-06-09 Mitsubishi Electric Corp ロボットの教示装置、及びロボットの制御装置
JP2013043271A (ja) * 2011-08-26 2013-03-04 Canon Inc 情報処理装置、情報処理装置の制御方法、およびプログラム
JP2015142952A (ja) * 2014-01-31 2015-08-06 パナソニック株式会社 ロボットの部品挿入動作の教示方法、及びそれを用いたロボットの動作方法
US9802317B1 (en) * 2015-04-24 2017-10-31 X Development Llc Methods and systems for remote perception assistance to facilitate robotic object manipulation
WO2018146770A1 (ja) * 2017-02-09 2018-08-16 三菱電機株式会社 位置制御装置及び位置制御方法
WO2019239565A1 (ja) * 2018-06-14 2019-12-19 ヤマハ発動機株式会社 キッティングトレイへの部品配膳装置
WO2019239563A1 (ja) * 2018-06-14 2019-12-19 ヤマハ発動機株式会社 ロボットシステム

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012022190B4 (de) 2012-11-12 2019-02-07 Hochschule Reutlingen Inverse Kinematik
JP6522488B2 (ja) 2015-07-31 2019-05-29 ファナック株式会社 ワークの取り出し動作を学習する機械学習装置、ロボットシステムおよび機械学習方法
US10953548B2 (en) 2018-07-19 2021-03-23 International Business Machines Corporation Perform peg-in-hole task with unknown tilt

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011110688A (ja) * 2009-11-30 2011-06-09 Mitsubishi Electric Corp ロボットの教示装置、及びロボットの制御装置
JP2013043271A (ja) * 2011-08-26 2013-03-04 Canon Inc 情報処理装置、情報処理装置の制御方法、およびプログラム
JP2015142952A (ja) * 2014-01-31 2015-08-06 パナソニック株式会社 ロボットの部品挿入動作の教示方法、及びそれを用いたロボットの動作方法
US9802317B1 (en) * 2015-04-24 2017-10-31 X Development Llc Methods and systems for remote perception assistance to facilitate robotic object manipulation
WO2018146770A1 (ja) * 2017-02-09 2018-08-16 三菱電機株式会社 位置制御装置及び位置制御方法
WO2019239565A1 (ja) * 2018-06-14 2019-12-19 ヤマハ発動機株式会社 キッティングトレイへの部品配膳装置
WO2019239563A1 (ja) * 2018-06-14 2019-12-19 ヤマハ発動機株式会社 ロボットシステム

Also Published As

Publication number Publication date
WO2021220394A1 (ja) 2021-11-04
JP7245959B2 (ja) 2023-03-24
DE112020006594B4 (de) 2024-02-29
US20230158667A1 (en) 2023-05-25
DE112020006594T5 (de) 2022-11-10
CN115087522A (zh) 2022-09-20

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