KR101443502B1 - 모터 구동 구조를 구비한 시스템, 프로그램을 기록한 컴퓨터 판독 가능한 기록 매체, 및 용접물 제조 방법 - Google Patents

모터 구동 구조를 구비한 시스템, 프로그램을 기록한 컴퓨터 판독 가능한 기록 매체, 및 용접물 제조 방법 Download PDF

Info

Publication number
KR101443502B1
KR101443502B1 KR1020130019814A KR20130019814A KR101443502B1 KR 101443502 B1 KR101443502 B1 KR 101443502B1 KR 1020130019814 A KR1020130019814 A KR 1020130019814A KR 20130019814 A KR20130019814 A KR 20130019814A KR 101443502 B1 KR101443502 B1 KR 101443502B1
Authority
KR
South Korea
Prior art keywords
setting
threshold value
value
disturbance torque
sensitivity
Prior art date
Application number
KR1020130019814A
Other languages
English (en)
Korean (ko)
Other versions
KR20130102476A (ko
Inventor
슈이치 이나다
요시히데 이노우에
요시하루 니시다
다카시 와다
Original Assignee
가부시키 가이샤 고베세이코쇼
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 by 가부시키 가이샤 고베세이코쇼 filed Critical 가부시키 가이샤 고베세이코쇼
Publication of KR20130102476A publication Critical patent/KR20130102476A/ko
Application granted granted Critical
Publication of KR101443502B1 publication Critical patent/KR101443502B1/ko

Links

Images

Classifications

    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool
    • Y10S901/42—Welding

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
KR1020130019814A 2012-03-07 2013-02-25 모터 구동 구조를 구비한 시스템, 프로그램을 기록한 컴퓨터 판독 가능한 기록 매체, 및 용접물 제조 방법 KR101443502B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012050844A JP5912683B2 (ja) 2012-03-07 2012-03-07 モータ駆動構造を備えたシステム、モータ駆動構造のシステムに用いられるプログラム、および溶接物製造方法
JPJP-P-2012-050844 2012-03-07

Publications (2)

Publication Number Publication Date
KR20130102476A KR20130102476A (ko) 2013-09-17
KR101443502B1 true KR101443502B1 (ko) 2014-09-22

Family

ID=49128611

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020130019814A KR101443502B1 (ko) 2012-03-07 2013-02-25 모터 구동 구조를 구비한 시스템, 프로그램을 기록한 컴퓨터 판독 가능한 기록 매체, 및 용접물 제조 방법

Country Status (3)

Country Link
JP (1) JP5912683B2 (ja)
KR (1) KR101443502B1 (ja)
CN (1) CN103302679B (ja)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101982226B1 (ko) * 2014-12-26 2019-05-24 카와사키 주코교 카부시키 카이샤 로봇 시스템
KR102024454B1 (ko) * 2015-05-20 2019-09-23 닛산 지도우샤 가부시키가이샤 고장 진단 장치 및 고장 진단 방법
RU2682195C1 (ru) * 2015-05-21 2019-03-15 Ниссан Мотор Ко., Лтд. Устройство диагностики неисправностей и способ диагностики неисправностей
KR101717380B1 (ko) * 2015-09-08 2017-03-17 현대중공업 주식회사 영상 모니터링 기능이 부가된 반송로봇
EP3351356B1 (en) 2015-09-16 2020-11-18 Panasonic Intellectual Property Management Co., Ltd. Robot collision detection method
CN107303670A (zh) * 2016-04-19 2017-10-31 上海技美科技股份有限公司 通用协作机器人、机器人系统及通用协作机器人执行操作任务的控制方法
JP6842907B2 (ja) * 2016-12-19 2021-03-17 株式会社クボタ 作業車自動走行システム
KR102532963B1 (ko) * 2016-12-19 2023-05-16 가부시끼 가이샤 구보다 작업차 자동 주행 시스템
JP6846717B2 (ja) * 2018-02-14 2021-03-24 ファナック株式会社 ロボットのジョイントの異常検出装置及び異常検出方法
JP7105646B2 (ja) * 2018-08-02 2022-07-25 株式会社神戸製鋼所 ロボット制御装置、ロボット制御方法及びプログラム
JP2021191594A (ja) * 2018-08-30 2021-12-16 株式会社不二越 ロボット制御装置
KR102105626B1 (ko) * 2019-10-30 2020-04-28 주식회사 뉴로메카 협동 로봇의 충돌 민감도 자동 설정 방법
EP4052864A4 (en) * 2019-10-30 2023-11-22 Neuromeka METHOD FOR AUTOMATICALLY ADJUSTING THE COLLISION SENSITIVITY OF A COLLABORATIVE ROBOT
KR102226122B1 (ko) * 2020-04-22 2021-03-11 주식회사 뉴로메카 협동 로봇의 충돌 민감도 자동 설정 방법
KR102304030B1 (ko) * 2019-10-30 2021-09-23 경희대학교 산학협력단 로봇용 가변형 충돌판별 민감도 및 임계값 선정 모듈, 운동량 관측기를 이용한 로봇용 잔차 연산 시스템 및 이를 이용한 센서리스 충돌 판별 방법
WO2022269850A1 (ja) * 2021-06-24 2022-12-29 株式会社Fuji ロボットおよびアームの制御方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003527255A (ja) * 1999-10-01 2003-09-16 エスディースリー・エルエルシー 動力装置用の安全システム
JP2005100143A (ja) * 2003-09-25 2005-04-14 Kobe Steel Ltd モータ駆動装置の制御方法及び制御装置

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11320477A (ja) * 1998-05-21 1999-11-24 Nachi Fujikoshi Corp 産業用ロボットの動作異常検出方法
JP2000071191A (ja) * 1998-08-28 2000-03-07 Toshiba Corp 産業用ロボット装置
JP3878054B2 (ja) * 2001-05-08 2007-02-07 三菱電機株式会社 ロボット制御装置
DE10304019A1 (de) * 2003-02-01 2004-11-04 Kuka Roboter Gmbh Verfahren zum Überwachen einer Maschine und derartige Maschine, insbesondere Roboter
JP2004364396A (ja) * 2003-06-04 2004-12-24 Yaskawa Electric Corp モータの制御装置および制御方法
JP4223911B2 (ja) * 2003-09-25 2009-02-12 株式会社神戸製鋼所 衝突検知方法及び衝突検知装置
JP4228965B2 (ja) * 2004-03-30 2009-02-25 パナソニック株式会社 ロボットの制御方法
DE102004026185A1 (de) * 2004-05-28 2005-12-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters
JP3933158B2 (ja) * 2004-10-21 2007-06-20 松下電器産業株式会社 ロボットの衝突検出方法
JP4873253B2 (ja) * 2007-09-18 2012-02-08 株式会社安川電機 ロボットの直接教示装置
JP4335286B2 (ja) * 2008-02-08 2009-09-30 ファナック株式会社 部品保護機能を備えたロボット制御装置及びロボット制御方法
CN201559195U (zh) * 2009-12-11 2010-08-25 Abb技术有限公司 机器人

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003527255A (ja) * 1999-10-01 2003-09-16 エスディースリー・エルエルシー 動力装置用の安全システム
JP2005100143A (ja) * 2003-09-25 2005-04-14 Kobe Steel Ltd モータ駆動装置の制御方法及び制御装置

Also Published As

Publication number Publication date
KR20130102476A (ko) 2013-09-17
JP5912683B2 (ja) 2016-04-27
CN103302679B (zh) 2015-08-26
JP2013184249A (ja) 2013-09-19
CN103302679A (zh) 2013-09-18

Similar Documents

Publication Publication Date Title
KR101443502B1 (ko) 모터 구동 구조를 구비한 시스템, 프로그램을 기록한 컴퓨터 판독 가능한 기록 매체, 및 용접물 제조 방법
JP6238021B2 (ja) ロボット、ロボットの制御装置及び制御方法、並びに、ロボット用制御プログラム
US11065767B2 (en) Object manipulation apparatus and object manipulation method for automatic machine that picks up and manipulates an object
US9469031B2 (en) Motion limiting device and motion limiting method
US8600552B2 (en) Information processing method, apparatus, and computer readable medium
JP6240133B2 (ja) 溶接を行う打点の位置を測定するスポット溶接システム
CN112437714B (zh) 机器人控制装置、机器人控制方法以及机器人控制程序
JP5939202B2 (ja) ロボット教示補助装置、ロボットシステムおよびロボット教示方法
US11040449B2 (en) Robot control system and method of controlling a robot
CN110480628B (zh) 机器人、控制装置以及机器人控制方法
JP2013169609A (ja) ロボットの衝突検出方法
CN107932500A (zh) 具有限制机器人的速度、加速度的功能的机器人控制装置
US20220009101A1 (en) Control device, control method, and non-transitory recording medium
WO2022018953A1 (ja) 制御システム、ジェスチャ認識システム、車両、及び、ジェスチャ認識システムを制御する方法
US20210039256A1 (en) Robot control method
JP2009045678A (ja) ロボットの作業成否判定方法およびロボットシステム
EP3981536B1 (en) Arc-tracking welding method and welding device
JP2011062763A (ja) ロボット制御装置
JP2021041506A (ja) 制御方法およびロボットシステム
US11654576B2 (en) Robot system including robot having handle and method of controlling robot
KR101439249B1 (ko) 공간 점유 정보를 이용한 로봇 동작 생성 장치 및 방법
US11999051B2 (en) Control device, control method, and program
JP2020163551A (ja) 制御方法およびロボットシステム

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20170818

Year of fee payment: 4

FPAY Annual fee payment

Payment date: 20180816

Year of fee payment: 5