JPWO2022153374A1 - - Google Patents

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Publication number
JPWO2022153374A1
JPWO2022153374A1 JP2022574892A JP2022574892A JPWO2022153374A1 JP WO2022153374 A1 JPWO2022153374 A1 JP WO2022153374A1 JP 2022574892 A JP2022574892 A JP 2022574892A JP 2022574892 A JP2022574892 A JP 2022574892A JP WO2022153374 A1 JPWO2022153374 A1 JP WO2022153374A1
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
JP2022574892A
Other versions
JP7429807B2 (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.)
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Publication date
Application filed filed Critical
Publication of JPWO2022153374A1 publication Critical patent/JPWO2022153374A1/ja
Application granted granted Critical
Publication of JP7429807B2 publication Critical patent/JP7429807B2/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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • B25J9/1694—Programme 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40317—For collision avoidance and detection
    • 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
    • G05B2219/40442—Voxel map, 3-D grid map
    • 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
    • G05B2219/40477—Plan path independent from obstacles, then correction for obstacles
    • 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
    • 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
JP2022574892A 2021-01-12 2021-01-12 経路生成装置、経路生成方法及び経路生成プログラム Active JP7429807B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/000734 WO2022153374A1 (ja) 2021-01-12 2021-01-12 経路生成装置、経路生成方法及び経路生成プログラム

Publications (2)

Publication Number Publication Date
JPWO2022153374A1 true JPWO2022153374A1 (ja) 2022-07-21
JP7429807B2 JP7429807B2 (ja) 2024-02-08

Family

ID=82447194

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022574892A Active JP7429807B2 (ja) 2021-01-12 2021-01-12 経路生成装置、経路生成方法及び経路生成プログラム

Country Status (5)

Country Link
US (1) US20240058961A1 (ja)
EP (1) EP4279224A4 (ja)
JP (1) JP7429807B2 (ja)
CN (1) CN116745074A (ja)
WO (1) WO2022153374A1 (ja)

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4836458B2 (ja) 2005-01-07 2011-12-14 株式会社神戸製鋼所 動作プログラムの作成方法
DE602006003435D1 (de) * 2006-09-14 2008-12-11 Abb Research Ltd Verfahren und Vorrichtung zur Vermeidung von Kollisionen zwischen einem Industrieroboter und einem Objekt
US9144904B2 (en) * 2008-05-21 2015-09-29 Fanuc Robotics America Corporation Method and system for automatically preventing deadlock in multi-robot systems
JP6000579B2 (ja) 2012-03-09 2016-09-28 キヤノン株式会社 情報処理装置、情報処理方法
JP2013246553A (ja) 2012-05-24 2013-12-09 Toyota Motor Corp 軌道計画装置、軌道計画方法及び軌道計画プログラム
JP6807949B2 (ja) * 2016-11-16 2021-01-06 三菱電機株式会社 干渉回避装置
KR101798132B1 (ko) * 2016-12-26 2017-11-16 한국생산기술연구원 로봇의 충돌 검출 고속화를 위한 작업 환경 모델링 장치 및 방법
US10303180B1 (en) * 2017-04-20 2019-05-28 X Development Llc Generating and utilizing non-uniform volume measures for voxels in robotics applications
ES2928250T3 (es) * 2018-03-21 2022-11-16 Realtime Robotics Inc Planificación del movimiento de un robot para diversos entornos y tareas y mejora del funcionamiento del mismo
US11911908B2 (en) * 2018-12-21 2024-02-27 Intrinsic Innovation Llc Dynamic probabilistic motion planning
CN111504328B (zh) 2020-05-22 2022-07-08 梅卡曼德（北京）机器人科技有限公司 机器人运动规划方法、路径规划方法、抓取方法及其装置
JP2022100030A (ja) 2020-12-23 2022-07-05 京セラ株式会社 干渉判定装置、ロボット制御システム、及び干渉判定方法

Also Published As

Publication number Publication date
CN116745074A (zh) 2023-09-12
EP4279224A1 (en) 2023-11-22
WO2022153374A1 (ja) 2022-07-21
US20240058961A1 (en) 2024-02-22
JP7429807B2 (ja) 2024-02-08
EP4279224A4 (en) 2024-02-28

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