KR102033241B1 - 로봇의 이동 속도 제어 장치 및 방법 - Google Patents
로봇의 이동 속도 제어 장치 및 방법 Download PDFInfo
- Publication number
- KR102033241B1 KR102033241B1 KR1020180032973A KR20180032973A KR102033241B1 KR 102033241 B1 KR102033241 B1 KR 102033241B1 KR 1020180032973 A KR1020180032973 A KR 1020180032973A KR 20180032973 A KR20180032973 A KR 20180032973A KR 102033241 B1 KR102033241 B1 KR 102033241B1
- Authority
- KR
- South Korea
- Prior art keywords
- robot
- arm
- tip
- limit value
- movement
- Prior art date
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Classifications
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- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme 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—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
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2017-078179 | 2017-04-11 | ||
JP2017078179A JP6904759B2 (ja) | 2017-04-11 | 2017-04-11 | ロボットの移動速度制御装置及び方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20180114837A KR20180114837A (ko) | 2018-10-19 |
KR102033241B1 true KR102033241B1 (ko) | 2019-10-16 |
Family
ID=63844580
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020180032973A KR102033241B1 (ko) | 2017-04-11 | 2018-03-22 | 로봇의 이동 속도 제어 장치 및 방법 |
Country Status (3)
Country | Link |
---|---|
JP (1) | JP6904759B2 (zh) |
KR (1) | KR102033241B1 (zh) |
CN (1) | CN108687758B (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7311971B2 (ja) | 2019-01-11 | 2023-07-20 | 株式会社Fuji | ロボット制御装置及びロボット制御方法 |
CN111482982B (zh) * | 2020-05-07 | 2021-12-21 | 宁波奥克斯电气股份有限公司 | 一种夹持机构及夹持机构的控制方法 |
KR20220088823A (ko) | 2020-12-20 | 2022-06-28 | 정현재 | 이물질 제거가 용이한 청소용 솔 |
CN113116528B (zh) * | 2021-04-15 | 2022-05-17 | 哈尔滨思哲睿智能医疗设备有限公司 | 一种腹腔镜手术机器人的滑台运动控制方法及装置 |
CN113771031B (zh) * | 2021-09-07 | 2023-11-28 | 苏州艾利特机器人有限公司 | 一种机器人自适应调速方法及多关节机器人 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100262382B1 (ko) * | 1996-01-24 | 2000-11-01 | 다니구찌 이찌로오, 기타오카 다카시 | 로봇의속도연산장치및로봇의속도연산방법 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05233052A (ja) | 1992-02-20 | 1993-09-10 | Tokico Ltd | ロボットの教示装置 |
JPH0691587A (ja) | 1992-09-08 | 1994-04-05 | Amada Co Ltd | 産業用ロボットの非常停止方法および装置 |
JPH09193060A (ja) * | 1996-01-16 | 1997-07-29 | Honda Motor Co Ltd | ティーチング時のロボットの移動速度制御装置 |
US6216058B1 (en) * | 1999-05-28 | 2001-04-10 | Brooks Automation, Inc. | System of trajectory planning for robotic manipulators based on pre-defined time-optimum trajectory shapes |
JP2002127060A (ja) * | 2000-10-23 | 2002-05-08 | Matsushita Electric Ind Co Ltd | ロボット装置 |
JP4513568B2 (ja) | 2002-07-18 | 2010-07-28 | 株式会社安川電機 | ロボット制御装置 |
CN101888920B (zh) * | 2007-12-07 | 2012-10-03 | 株式会社安川电机 | 机器人动作限制方法、机器人系统和机器人动作限制装置 |
JP5970880B2 (ja) * | 2012-03-15 | 2016-08-17 | オムロン株式会社 | 動力源の制御装置 |
JP6238628B2 (ja) * | 2013-08-06 | 2017-11-29 | キヤノン株式会社 | ロボット装置、ロボット制御方法、ロボット制御プログラム及びロボット装置を用いた部品の製造方法 |
JP6360301B2 (ja) * | 2013-12-25 | 2018-07-18 | 川崎重工業株式会社 | 動作プログラム作成方法およびロボットの制御方法 |
TWI592265B (zh) * | 2014-06-25 | 2017-07-21 | Hiwin Tech Corp | Safety control method of mechanical arm |
JP6476635B2 (ja) * | 2014-08-01 | 2019-03-06 | 株式会社デンソーウェーブ | ロボットの制御装置及び制御方法 |
CN104440954B (zh) * | 2014-10-30 | 2016-01-20 | 青岛立邦达机器人系统有限公司 | 一种搬运机器人防碰撞安全保护系统 |
JP2016159367A (ja) * | 2015-02-26 | 2016-09-05 | ファナック株式会社 | ロボットの動作モードを自動的に切替えるロボット制御装置 |
CN105437235A (zh) * | 2016-01-25 | 2016-03-30 | 珠海格力电器股份有限公司 | 一种奇异点区域减速保护方法、系统和工业机器人 |
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2017
- 2017-04-11 JP JP2017078179A patent/JP6904759B2/ja active Active
-
2018
- 2018-03-22 KR KR1020180032973A patent/KR102033241B1/ko active IP Right Grant
- 2018-03-23 CN CN201810245956.6A patent/CN108687758B/zh active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100262382B1 (ko) * | 1996-01-24 | 2000-11-01 | 다니구찌 이찌로오, 기타오카 다카시 | 로봇의속도연산장치및로봇의속도연산방법 |
Also Published As
Publication number | Publication date |
---|---|
KR20180114837A (ko) | 2018-10-19 |
JP2018176341A (ja) | 2018-11-15 |
JP6904759B2 (ja) | 2021-07-21 |
CN108687758A (zh) | 2018-10-23 |
CN108687758B (zh) | 2022-04-05 |
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