KR102086884B1 - 로봇 제어 장치 및 로봇 제어 방법 - Google Patents

로봇 제어 장치 및 로봇 제어 방법 Download PDF

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Publication number
KR102086884B1
KR102086884B1 KR1020160146389A KR20160146389A KR102086884B1 KR 102086884 B1 KR102086884 B1 KR 102086884B1 KR 1020160146389 A KR1020160146389 A KR 1020160146389A KR 20160146389 A KR20160146389 A KR 20160146389A KR 102086884 B1 KR102086884 B1 KR 102086884B1
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South Korea
Prior art keywords
gripping
target object
information
attitude
robot
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English (en)
Korean (ko)
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KR20170053585A (ko
Inventor
데츠리 소노다
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캐논 가부시끼가이샤
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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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • 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
    • 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
    • B25J19/04—Viewing 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
    • B25J9/0093—Program-controlled manipulators co-operating with conveyor 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
    • 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
    • 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
    • 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
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • 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
    • G05B2219/39102—Manipulator cooperating with conveyor
    • 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
    • G05B2219/40053—Pick 3-D object from pile of objects
    • 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
    • G05B2219/40555—Orientation and distance

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Image Analysis (AREA)
KR1020160146389A 2015-11-06 2016-11-04 로봇 제어 장치 및 로봇 제어 방법 Active KR102086884B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JPJP-P-2015-218215 2015-11-06
JP2015218215A JP6711591B2 (ja) 2015-11-06 2015-11-06 ロボット制御装置およびロボット制御方法

Publications (2)

Publication Number Publication Date
KR20170053585A KR20170053585A (ko) 2017-05-16
KR102086884B1 true KR102086884B1 (ko) 2020-03-09

Family

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KR1020160146389A Active KR102086884B1 (ko) 2015-11-06 2016-11-04 로봇 제어 장치 및 로봇 제어 방법

Country Status (4)

Country Link
US (1) US10695905B2 (enExample)
JP (1) JP6711591B2 (enExample)
KR (1) KR102086884B1 (enExample)
CN (1) CN106945035B (enExample)

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JP7028092B2 (ja) * 2018-07-13 2022-03-02 オムロン株式会社 把持姿勢評価装置及び把持姿勢評価プログラム
US11312014B2 (en) * 2018-09-10 2022-04-26 Kindred Systems Inc. System and method for robotic gripping utilizing dynamic collision modeling for vacuum suction and finger control
JP7467041B2 (ja) 2018-09-27 2024-04-15 キヤノン株式会社 情報処理装置、情報処理方法及びシステム
EP3646995A1 (de) * 2018-10-29 2020-05-06 Siemens Aktiengesellschaft Vollautomatisierte montage und kontaktierung elektrischer bauteile
US10369701B1 (en) 2018-10-30 2019-08-06 Mujin, Inc. Automated package registration systems, devices, and methods
KR102650494B1 (ko) 2018-10-30 2024-03-22 무진 아이엔씨 자동화된 패키지 등록 시스템, 디바이스 및 방법
KR102619004B1 (ko) 2018-12-14 2023-12-29 삼성전자 주식회사 로봇 장치 및 로봇의 작업 기술을 학습하는 방법
JP6810173B2 (ja) * 2019-01-29 2021-01-06 日本金銭機械株式会社 物体把持システム
NO345105B1 (en) * 2019-03-18 2020-09-28 Macgregor Norway As Multiaxial robotic arm
US10583560B1 (en) * 2019-04-03 2020-03-10 Mujin, Inc. Robotic system with object identification and handling mechanism and method of operation thereof
JP7391571B2 (ja) * 2019-08-28 2023-12-05 キヤノン株式会社 電子機器、その制御方法、プログラム、および記憶媒体
JP7023450B2 (ja) * 2019-12-12 2022-02-22 株式会社Mujin カメラによって生成される画像情報に基づいて、動作計画を実行する方法および計算システム
CN111470070B (zh) * 2020-05-09 2022-03-22 清华大学 一种空间非合作目标无接触消旋辨识装置及方法
CN112614181B (zh) * 2020-12-01 2024-03-22 深圳乐动机器人股份有限公司 一种基于高亮目标的机器人定位方法及装置
CN117355397A (zh) * 2021-05-27 2024-01-05 发那科株式会社 基于由视觉传感器拍摄到的图像来计算三维位置的拍摄装置
CN113344108B (zh) * 2021-06-25 2024-10-29 视比特(长沙)机器人科技有限公司 一种商品识别与姿态估计方法及装置
US12544929B2 (en) 2021-07-21 2026-02-10 Mujin, Inc. Robotic system with depth-based processing mechanism and methods for operating the same
US12290944B2 (en) 2021-08-09 2025-05-06 Mujin, Inc. Robotic system with image-based sizing mechanism and methods for operating the same
KR102473296B1 (ko) * 2021-08-17 2022-12-02 박광중 픽앤플레이스 모니터링 방법, 그의 제어 장치 및 시스템
US12290933B2 (en) 2021-08-19 2025-05-06 Electronics And Telecommunications Research Institute Method and apparatus for automatically recognizing location of object
KR102791561B1 (ko) * 2021-08-19 2025-04-08 한국전자통신연구원 자동 객체 위치 인식 방법 및 장치
EP4470731A4 (en) * 2022-01-27 2025-12-24 Kyocera Corp ESTIMATING APPARATUS, ESTIMATING METHOD AND CONTROL DEVICE
KR102692665B1 (ko) * 2022-06-16 2024-08-05 주식회사 현대케피코 부족구동 손가락 모듈을 포함하는 그리퍼, 그리고 그리퍼의 굽힘 동작을 제어하는 방법

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Also Published As

Publication number Publication date
US10695905B2 (en) 2020-06-30
JP6711591B2 (ja) 2020-06-17
US20170129101A1 (en) 2017-05-11
CN106945035B (zh) 2020-10-30
CN106945035A (zh) 2017-07-14
JP2017087326A (ja) 2017-05-25
KR20170053585A (ko) 2017-05-16

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