JPWO2023095926A1 - - Google Patents

Info

Publication number
JPWO2023095926A1
JPWO2023095926A1 JP2023563784A JP2023563784A JPWO2023095926A1 JP WO2023095926 A1 JPWO2023095926 A1 JP WO2023095926A1 JP 2023563784 A JP2023563784 A JP 2023563784A JP 2023563784 A JP2023563784 A JP 2023563784A JP WO2023095926 A1 JPWO2023095926 A1 JP WO2023095926A1
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.)
Pending
Application number
JP2023563784A
Other languages
Japanese (ja)
Other versions
JPWO2023095926A5 (https=
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 JPWO2023095926A1 publication Critical patent/JPWO2023095926A1/ja
Publication of JPWO2023095926A5 publication Critical patent/JPWO2023095926A5/ja
Priority to JP2025185805A priority Critical patent/JP2026009312A/ja
Pending legal-status Critical Current

Links

Classifications

    • 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
    • B25J19/06—Safety 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
    • B25J9/163—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1664—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • G05B2219/39082—Collision, real time collision avoidance
    • 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
    • G05B2219/40201—Detect contact, collision with human
    • 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
    • G05B2219/40202—Human robot coexistence
    • 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
    • G05B2219/40476—Collision, planning for collision free path

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2023563784A 2021-11-29 2022-11-29 Pending JPWO2023095926A1 (https=)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2025185805A JP2026009312A (ja) 2021-11-29 2025-11-04 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

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021193660 2021-11-29
PCT/JP2022/044046 WO2023095926A1 (ja) 2021-11-29 2022-11-29 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

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2025185805A Division JP2026009312A (ja) 2021-11-29 2025-11-04 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 (2)

Publication Number Publication Date
JPWO2023095926A1 true JPWO2023095926A1 (https=) 2023-06-01
JPWO2023095926A5 JPWO2023095926A5 (https=) 2024-08-09

Family

ID=86539764

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2023563784A Pending JPWO2023095926A1 (https=) 2021-11-29 2022-11-29
JP2025185805A Pending JP2026009312A (ja) 2021-11-29 2025-11-04 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

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2025185805A Pending JP2026009312A (ja) 2021-11-29 2025-11-04 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) US20250050502A1 (https=)
EP (1) EP4442412A4 (https=)
JP (2) JPWO2023095926A1 (https=)
CN (1) CN118354882A (https=)
WO (1) WO2023095926A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023013784A1 (ja) * 2021-08-05 2023-02-09 京セラ株式会社 ライブラリ提示装置、ライブラリ提示方法及びロボット制御システム
WO2026078762A1 (ja) * 2024-10-08 2026-04-16 ファナック株式会社 制御装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06138941A (ja) * 1992-10-27 1994-05-20 Yamatake Honeywell Co Ltd 障害物回避装置
JP2017516674A (ja) * 2014-06-05 2017-06-22 ソフトバンク・ロボティクス・ヨーロッパＳｏｆｔｂａｎｋ Ｒｏｂｏｔｉｃｓ Ｅｕｒｏｐｅ 衝突検出
JP2019123022A (ja) * 2018-01-12 2019-07-25 株式会社日立製作所 ロボット制御装置および自動組立システム
WO2020045483A1 (ja) * 2018-08-30 2020-03-05 株式会社不二越 ロボット制御装置
WO2021117701A1 (ja) * 2019-12-13 2021-06-17 川崎重工業株式会社 マスタスレーブシステム及び制御方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6690626B2 (ja) 2017-10-31 2020-04-28 株式会社安川電機 ロボットシステムおよびロボットの退避方法
KR101968751B1 (ko) * 2017-12-19 2019-08-13 전자부품연구원 충돌 감지 장치, 그를 갖는 엔드 이펙터, 로봇 및 그를 이용한 충돌 감지 방법
JP7176255B2 (ja) * 2018-07-04 2022-11-22 富士電機株式会社 電動機制御装置及び衝突検出方法
CN110696000B (zh) * 2019-11-21 2020-12-01 河北工业大学 一种机械臂试探感知的避障方法
JP6916348B1 (ja) 2020-06-08 2021-08-11 第一工業製薬株式会社 非水電解質二次電池用負極およびそれを用いた非水電解質二次電池

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06138941A (ja) * 1992-10-27 1994-05-20 Yamatake Honeywell Co Ltd 障害物回避装置
JP2017516674A (ja) * 2014-06-05 2017-06-22 ソフトバンク・ロボティクス・ヨーロッパＳｏｆｔｂａｎｋ Ｒｏｂｏｔｉｃｓ Ｅｕｒｏｐｅ 衝突検出
JP2019123022A (ja) * 2018-01-12 2019-07-25 株式会社日立製作所 ロボット制御装置および自動組立システム
WO2020045483A1 (ja) * 2018-08-30 2020-03-05 株式会社不二越 ロボット制御装置
WO2021117701A1 (ja) * 2019-12-13 2021-06-17 川崎重工業株式会社 マスタスレーブシステム及び制御方法

Also Published As

Publication number Publication date
WO2023095926A1 (ja) 2023-06-01
EP4442412A1 (en) 2024-10-09
CN118354882A (zh) 2024-07-16
JP2026009312A (ja) 2026-01-19
US20250050502A1 (en) 2025-02-13
EP4442412A4 (en) 2025-11-19

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