JPWO2023013698A1 - - Google Patents

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Publication number
JPWO2023013698A1
JPWO2023013698A1 JP2023540394A JP2023540394A JPWO2023013698A1 JP WO2023013698 A1 JPWO2023013698 A1 JP WO2023013698A1 JP 2023540394 A JP2023540394 A JP 2023540394A JP 2023540394 A JP2023540394 A JP 2023540394A JP WO2023013698 A1 JPWO2023013698 A1 JP WO2023013698A1
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
JP2023540394A
Other languages
Japanese (ja)
Other versions
JPWO2023013698A5 (https=
JP7657936B2 (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 JPWO2023013698A1 publication Critical patent/JPWO2023013698A1/ja
Publication of JPWO2023013698A5 publication Critical patent/JPWO2023013698A5/ja
Application granted granted Critical
Publication of JP7657936B2 publication Critical patent/JP7657936B2/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
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • 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
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • B25J9/1694—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
    • G05B2219/39016—Simultaneous calibration of manipulator and camera
    • 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
    • G05B2219/39024—Calibration of manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2023540394A 2021-08-03 2022-08-03 ロボット制御装置、ロボット制御システム、及びロボット制御方法 Active JP7657936B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021127715 2021-08-03
JP2021127715 2021-08-03
PCT/JP2022/029851 WO2023013698A1 (ja) 2021-08-03 2022-08-03 ロボット制御装置、ロボット制御システム、及びロボット制御方法

Publications (3)

Publication Number Publication Date
JPWO2023013698A1 true JPWO2023013698A1 (https=) 2023-02-09
JPWO2023013698A5 JPWO2023013698A5 (https=) 2024-04-25
JP7657936B2 JP7657936B2 (ja) 2025-04-07

Family

ID=85156017

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023540394A Active JP7657936B2 (ja) 2021-08-03 2022-08-03 ロボット制御装置、ロボット制御システム、及びロボット制御方法

Country Status (5)

Country Link
US (1) US20240246237A1 (https=)
EP (1) EP4382258A4 (https=)
JP (1) JP7657936B2 (https=)
CN (1) CN117813182A (https=)
WO (1) WO2023013698A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7680553B2 (ja) * 2021-09-27 2025-05-20 ファナック株式会社 機構誤差パラメータを較正する較正装置および機構誤差パラメータの較正の必要性を判定する判定装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009125857A (ja) * 2007-11-22 2009-06-11 Mitsubishi Electric Corp ロボットのキャリブレーション装置及び方法
JP2020116717A (ja) * 2019-01-28 2020-08-06 株式会社Ｆｕｊｉ ロボット制御システム

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1063317A (ja) * 1996-08-13 1998-03-06 Fanuc Ltd ロボット−視覚センサシステムにおける座標系結合方法
JP4298757B2 (ja) * 2007-02-05 2009-07-22 ファナック株式会社 ロボット機構のキャリブレーション装置及び方法
JP5561260B2 (ja) * 2011-09-15 2014-07-30 株式会社安川電機 ロボットシステム及び撮像方法
US9211643B1 (en) * 2014-06-25 2015-12-15 Microsoft Technology Licensing, Llc Automatic in-situ registration and calibration of robotic arm/sensor/workspace system
JP6396516B2 (ja) * 2017-01-12 2018-09-26 ファナック株式会社 視覚センサのキャリブレーション装置、方法及びプログラム
JP6860843B2 (ja) * 2017-02-20 2021-04-21 株式会社安川電機 ロボットシステム、ロボット制御装置、及びロボット制御方法
WO2018163450A1 (ja) * 2017-03-09 2018-09-13 三菱電機株式会社 ロボット制御装置およびキャリブレーション方法
JP7008942B2 (ja) * 2017-12-21 2022-01-25 株式会社安川電機 較正方法及び較正装置
JP2019119027A (ja) * 2018-01-10 2019-07-22 キヤノン株式会社 ロボットシステムの制御方法、およびロボットシステム
DE102018124595B4 (de) * 2018-10-05 2022-02-17 Carl Zeiss Industrielle Messtechnik Gmbh Vorrichtung zur Erfassung einer Position und Lage eines Endeffektors eines Roboters
JP7323057B2 (ja) * 2020-03-31 2023-08-08 日本電気株式会社 制御装置、制御方法、および、制御プログラム
US12311542B2 (en) * 2020-07-29 2025-05-27 Fanuc Corporation Robot system
US12115652B2 (en) * 2020-08-17 2024-10-15 Faro Technologies, Inc. Referencing pose manipulation system for marker based tracking of position measurement system
US11724407B2 (en) * 2021-01-18 2023-08-15 Xerox Corporation Target-free RGBD camera alignment to robots
CN116917087A (zh) * 2021-04-19 2023-10-20 发那科株式会社 程序生成装置和机器人控制装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009125857A (ja) * 2007-11-22 2009-06-11 Mitsubishi Electric Corp ロボットのキャリブレーション装置及び方法
JP2020116717A (ja) * 2019-01-28 2020-08-06 株式会社Ｆｕｊｉ ロボット制御システム

Also Published As

Publication number Publication date
EP4382258A4 (en) 2025-08-13
WO2023013698A1 (ja) 2023-02-09
CN117813182A (zh) 2024-04-02
JP7657936B2 (ja) 2025-04-07
EP4382258A1 (en) 2024-06-12
US20240246237A1 (en) 2024-07-25

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