KR102612470B1 - 제어 시스템, 제어 방법 및 컴퓨터 판독 가능한 기억 매체 - Google Patents
제어 시스템, 제어 방법 및 컴퓨터 판독 가능한 기억 매체 Download PDFInfo
- Publication number
- KR102612470B1 KR102612470B1 KR1020207026085A KR20207026085A KR102612470B1 KR 102612470 B1 KR102612470 B1 KR 102612470B1 KR 1020207026085 A KR1020207026085 A KR 1020207026085A KR 20207026085 A KR20207026085 A KR 20207026085A KR 102612470 B1 KR102612470 B1 KR 102612470B1
- Authority
- KR
- South Korea
- Prior art keywords
- control
- control parameter
- feedback
- movement command
- unit
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 30
- 238000003860 storage Methods 0.000 title claims description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 238000003384 imaging method Methods 0.000 claims abstract description 63
- 230000000007 visual effect Effects 0.000 claims abstract description 53
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000007704 transition Effects 0.000 claims abstract description 10
- 230000008859 change Effects 0.000 claims description 31
- 238000005457 optimization Methods 0.000 claims description 13
- 239000013643 reference control Substances 0.000 claims description 4
- 238000012545 processing Methods 0.000 description 47
- 230000008569 process Effects 0.000 description 16
- 238000004891 communication Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 12
- 238000005259 measurement Methods 0.000 description 10
- 239000000872 buffer Substances 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
- Feedback Control In General (AREA)
- Studio Devices (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JPJP-P-2018-085123 | 2018-04-26 | ||
| JP2018085123A JP6922829B2 (ja) | 2018-04-26 | 2018-04-26 | 制御システム、制御方法、および制御プログラム |
| PCT/JP2019/014129 WO2019208109A1 (ja) | 2018-04-26 | 2019-03-29 | 制御システム、制御方法、および制御プログラム |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR20210004957A KR20210004957A (ko) | 2021-01-13 |
| KR102612470B1 true KR102612470B1 (ko) | 2023-12-12 |
Family
ID=68295246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1020207026085A KR102612470B1 (ko) | 2018-04-26 | 2019-03-29 | 제어 시스템, 제어 방법 및 컴퓨터 판독 가능한 기억 매체 |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6922829B2 (zh) |
| KR (1) | KR102612470B1 (zh) |
| CN (1) | CN111868658A (zh) |
| WO (1) | WO2019208109A1 (zh) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003330510A (ja) * | 2002-05-14 | 2003-11-21 | Yaskawa Electric Corp | 数値制御装置の同期制御方法 |
| JP2009122779A (ja) * | 2007-11-12 | 2009-06-04 | Mitsubishi Electric Corp | 制御システムおよび制御支援装置 |
| JP2015213139A (ja) * | 2014-05-07 | 2015-11-26 | 国立大学法人 東京大学 | 位置決め装置 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3424849B2 (ja) * | 1994-01-14 | 2003-07-07 | 株式会社安川電機 | マニピュレータのコンプライアンス制御装置 |
| JPH09247975A (ja) * | 1996-03-12 | 1997-09-19 | Matsushita Electric Ind Co Ltd | モータドライブ装置 |
| JP5834545B2 (ja) * | 2011-07-01 | 2015-12-24 | セイコーエプソン株式会社 | ロボット、ロボット制御装置、ロボット制御方法、およびロボット制御プログラム |
| JP6167622B2 (ja) * | 2013-04-08 | 2017-07-26 | オムロン株式会社 | 制御システムおよび制御方法 |
| JP6174636B2 (ja) | 2015-07-24 | 2017-08-02 | ファナック株式会社 | ワークを位置決めするためのワーク位置決め装置 |
| JP6551184B2 (ja) * | 2015-11-18 | 2019-07-31 | オムロン株式会社 | シミュレーション装置、シミュレーション方法、およびシミュレーションプログラム |
-
2018
- 2018-04-26 JP JP2018085123A patent/JP6922829B2/ja active Active
-
2019
- 2019-03-29 WO PCT/JP2019/014129 patent/WO2019208109A1/ja active Application Filing
- 2019-03-29 KR KR1020207026085A patent/KR102612470B1/ko active IP Right Grant
- 2019-03-29 CN CN201980018736.2A patent/CN111868658A/zh active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003330510A (ja) * | 2002-05-14 | 2003-11-21 | Yaskawa Electric Corp | 数値制御装置の同期制御方法 |
| JP2009122779A (ja) * | 2007-11-12 | 2009-06-04 | Mitsubishi Electric Corp | 制御システムおよび制御支援装置 |
| JP2015213139A (ja) * | 2014-05-07 | 2015-11-26 | 国立大学法人 東京大学 | 位置決め装置 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111868658A (zh) | 2020-10-30 |
| KR20210004957A (ko) | 2021-01-13 |
| WO2019208109A1 (ja) | 2019-10-31 |
| JP6922829B2 (ja) | 2021-08-18 |
| JP2019188551A (ja) | 2019-10-31 |
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| E701 | Decision to grant or registration of patent right | ||
| GRNT | Written decision to grant |