JPWO2023021703A1 - - Google Patents

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Publication number
JPWO2023021703A1
JPWO2023021703A1 JP2023542167A JP2023542167A JPWO2023021703A1 JP WO2023021703 A1 JPWO2023021703 A1 JP WO2023021703A1 JP 2023542167 A JP2023542167 A JP 2023542167A JP 2023542167 A JP2023542167 A JP 2023542167A JP WO2023021703 A1 JPWO2023021703 A1 JP WO2023021703A1
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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.)
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Application number
JP2023542167A
Other languages
Japanese (ja)
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JP7723101B2 (ja
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Publication date
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Publication of JPWO2023021703A1 publication Critical patent/JPWO2023021703A1/ja
Application granted granted Critical
Publication of JP7723101B2 publication Critical patent/JP7723101B2/ja
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Anticipated expiration legal-status Critical

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Classifications

    • 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
    • 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
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • B25J9/1669—Program controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • 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
    • G05B2219/39536—Planning of hand motion, grasping
    • 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
    • G05B2219/39546—Map human grasps to manipulator grasps

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
JP2023542167A 2021-08-20 2021-08-20 ロボットがワークを把持する位置及び姿勢を教示する装置、ロボットシステム、及び方法 Active JP7723101B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/030660 WO2023021703A1 (ja) 2021-08-20 2021-08-20 ロボットがワークを把持する位置及び姿勢を教示する装置、ロボットシステム、及び方法

Publications (2)

Publication Number Publication Date
JPWO2023021703A1 true JPWO2023021703A1 (https=) 2023-02-23
JP7723101B2 JP7723101B2 (ja) 2025-08-13

Family

ID=85240384

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023542167A Active JP7723101B2 (ja) 2021-08-20 2021-08-20 ロボットがワークを把持する位置及び姿勢を教示する装置、ロボットシステム、及び方法

Country Status (6)

Country Link
US (1) US20240342919A1 (https=)
JP (1) JP7723101B2 (https=)
CN (1) CN117836099A (https=)
DE (1) DE112021007813T5 (https=)
TW (1) TW202308819A (https=)
WO (1) WO2023021703A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120619797B (zh) * 2025-08-13 2025-11-14 上海特机智机器人有限公司 应用于大型lng船液货舱绝缘板安装的装板机器人

Citations (4)

* Cited by examiner, † Cited by third party
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JP5588089B1 (ja) * 2012-11-22 2014-09-10 パナソニック株式会社 アームの制御装置及び制御方法及び制御プログラム、ロボット、並びに、アームの制御用集積電子回路
JP2016209979A (ja) * 2015-05-13 2016-12-15 ファナック株式会社 バラ積みされた物品を取り出すための物品取出システム、および方法
JP6326765B2 (ja) * 2013-11-06 2018-05-23 セイコーエプソン株式会社 教示装置、ロボット、ロボットシステム、方法、及びプログラム
WO2021145311A1 (ja) * 2020-01-17 2021-07-22 ファナック株式会社 ロボットの制御装置、ロボットシステム、制御方法、及びコンピュータプログラム

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US6812665B2 (en) * 2002-04-19 2004-11-02 Abb Ab In-process relative robot workcell calibration
JP5448326B2 (ja) * 2007-10-29 2014-03-19 キヤノン株式会社 把持装置および把持装置制御方法
JP5977544B2 (ja) * 2012-03-09 2016-08-24 キヤノン株式会社 情報処理装置、情報処理方法
JP6108860B2 (ja) * 2013-02-14 2017-04-05 キヤノン株式会社 ロボットシステム及びロボットシステムの制御方法
JP6472472B2 (ja) * 2017-03-08 2019-02-20 本田技研工業株式会社 位置姿勢調整方法
US12070847B1 (en) * 2017-05-16 2024-08-27 AI Incorporated Collaborative intelligence of artificial intelligence agents
JP7427358B2 (ja) * 2017-07-20 2024-02-05 キヤノン株式会社 ロボットシステム、物品の製造方法、制御方法、制御プログラム、および記録媒体
JP6923383B2 (ja) * 2017-07-27 2021-08-18 株式会社日立物流 ピッキングロボットおよびピッキングシステム
JP2019063984A (ja) * 2017-10-02 2019-04-25 キヤノン株式会社 情報処理装置、方法及びロボットシステム
CN111757796B (zh) * 2018-02-23 2023-09-29 仓敷纺绩株式会社 线状物的前端移动方法、控制装置以及三维照相机
EP3695941B1 (en) * 2019-02-15 2022-04-13 Siemens Aktiengesellschaft Computerized system and method using different image views to find grasp locations and trajectories for robotic pick up
WO2021053750A1 (ja) * 2019-09-18 2021-03-25 株式会社Ｆｕｊｉ 作業ロボットおよび作業システム
US11478936B2 (en) * 2019-10-09 2022-10-25 Canon Kabushiki Kaisha Image processing apparatus that processes image picked up by image pickup apparatus attached to robot, control method therefor, and storage medium storing control program therefor
JP7535400B2 (ja) * 2020-07-14 2024-08-16 株式会社キーエンス 画像処理装置
JP7468288B2 (ja) * 2020-10-16 2024-04-16 オムロン株式会社 キャリブレーション装置およびキャリブレーションの自動設定方法
WO2022091328A1 (ja) * 2020-10-30 2022-05-05 株式会社ニコン ロボットシステム、ロボットアーム、エンドエフェクタ、およびアダプタ
JP7492440B2 (ja) * 2020-11-10 2024-05-29 株式会社日立製作所 ロボット制御システム、ロボット制御方法及びプログラム
JP7622455B2 (ja) * 2021-02-05 2025-01-28 オムロン株式会社 ロボット制御装置、ロボット制御方法、及びロボット制御プログラム
WO2022201314A1 (ja) * 2021-03-23 2022-09-29 日本電気株式会社 情報処理装置、修正システム、情報処理方法及び非一時的なコンピュータ可読媒体
JP2022169255A (ja) * 2021-04-27 2022-11-09 株式会社日立製作所 ロボット制御システム、ロボット制御方法及びプログラム
WO2022234752A1 (ja) * 2021-05-06 2022-11-10 三菱電機株式会社 ピッキングシステム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5588089B1 (ja) * 2012-11-22 2014-09-10 パナソニック株式会社 アームの制御装置及び制御方法及び制御プログラム、ロボット、並びに、アームの制御用集積電子回路
JP6326765B2 (ja) * 2013-11-06 2018-05-23 セイコーエプソン株式会社 教示装置、ロボット、ロボットシステム、方法、及びプログラム
JP2016209979A (ja) * 2015-05-13 2016-12-15 ファナック株式会社 バラ積みされた物品を取り出すための物品取出システム、および方法
WO2021145311A1 (ja) * 2020-01-17 2021-07-22 ファナック株式会社 ロボットの制御装置、ロボットシステム、制御方法、及びコンピュータプログラム

Also Published As

Publication number Publication date
JP7723101B2 (ja) 2025-08-13
DE112021007813T5 (de) 2024-03-28
US20240342919A1 (en) 2024-10-17
TW202308819A (zh) 2023-03-01
WO2023021703A1 (ja) 2023-02-23
CN117836099A (zh) 2024-04-05

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