KR20120025582A - 로봇의 교시 데이터를 작성하는 방법 및 로봇 교시 시스템 - Google Patents

로봇의 교시 데이터를 작성하는 방법 및 로봇 교시 시스템 Download PDF

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Publication number
KR20120025582A
KR20120025582A KR1020127000207A KR20127000207A KR20120025582A KR 20120025582 A KR20120025582 A KR 20120025582A KR 1020127000207 A KR1020127000207 A KR 1020127000207A KR 20127000207 A KR20127000207 A KR 20127000207A KR 20120025582 A KR20120025582 A KR 20120025582A
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South Korea
Prior art keywords
teaching
robot
wrist
hand
image
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KR1020127000207A
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English (en)
Korean (ko)
Inventor
마사키 다카산
무네타카 야마모토
카즈오 세이키
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가부시키가이샤 도요다 지도숏키
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Publication of KR20120025582A publication Critical patent/KR20120025582A/ko

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • B25J9/1694—Programme 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
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37567—3-D vision, stereo vision, with two cameras
    • 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
    • G05B2219/40116—Learn by operator observation, symbiosis, show, watch

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
KR1020127000207A 2009-11-24 2010-03-23 로봇의 교시 데이터를 작성하는 방법 및 로봇 교시 시스템 KR20120025582A (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JPJP-P-2009-266321 2009-11-24
JP2009266321A JP2011110621A (ja) 2009-11-24 2009-11-24 ロボットの教示データを作成する方法およびロボット教示システム

Publications (1)

Publication Number Publication Date
KR20120025582A true KR20120025582A (ko) 2012-03-15

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KR1020127000207A KR20120025582A (ko) 2009-11-24 2010-03-23 로봇의 교시 데이터를 작성하는 방법 및 로봇 교시 시스템

Country Status (4)

Country Link
JP (1) JP2011110621A (zh)
KR (1) KR20120025582A (zh)
CN (1) CN102470530A (zh)
WO (1) WO2011065035A1 (zh)

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KR20190048589A (ko) * 2017-10-31 2019-05-09 충남대학교산학협력단 가상 현실 기반 양팔로봇 교시 장치 및 방법
CN110170996A (zh) * 2019-05-09 2019-08-27 广西安博特智能科技有限公司 一种基于立体视觉的机器人快速示教系统
KR20200140834A (ko) * 2019-04-30 2020-12-16 치루 유니버시티 오브 테크놀로지 웨어러블 디바이스 기반의 이동 로봇 제어 시스템 및 제어 방법
WO2023013832A1 (ko) * 2021-08-05 2023-02-09 서울대학교병원 헤드셋 기반의 비접촉 손동작 인식 기술을 활용한 수술 로봇 제어 시스템
KR102553830B1 (ko) * 2022-06-28 2023-07-10 주식회사 포탈301 카메라를 이용한 실시간 로봇 원격 제어 방법 및 장치

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CN102350700A (zh) * 2011-09-19 2012-02-15 华南理工大学 一种基于视觉的机器人控制方法
EP2653272A1 (de) * 2012-04-17 2013-10-23 Siemens Aktiengesellschaft Betriebsverfahren für einen Rechner zum Programmieren der Bewegungen einer Maschine
CN102778951B (zh) * 2012-06-15 2016-02-10 惠州华阳通用电子有限公司 使用虚拟按键的输入设备及输入方法
CN102814814B (zh) * 2012-07-31 2015-07-01 华南理工大学 一种双臂机器人基于Kinect的人机交互方法
CN102773863A (zh) * 2012-07-31 2012-11-14 华南理工大学 一种机器人精细遥操作方法
US10406686B2 (en) * 2012-12-14 2019-09-10 Abb Schweiz Ag Bare hand robot path teaching
JP6455869B2 (ja) * 2014-05-23 2019-01-23 セイコーエプソン株式会社 ロボット、ロボットシステム、制御装置、及び制御方法
TWM485805U (zh) * 2014-06-19 2014-09-11 Chao-Shen Chou 機械手臂控制系統
JP6550605B2 (ja) * 2014-12-02 2019-07-31 Ｓｏｉｎｎ株式会社 動作の転移装置、動作の転移方法及びプログラム
WO2016151667A1 (ja) * 2015-03-20 2016-09-29 富士機械製造株式会社 ティーチング装置及び制御情報の生成方法
CN104827474B (zh) * 2015-05-04 2017-06-27 南京理工大学 学习人的虚拟示教机器人智能编程方法及辅助装置
GB201509341D0 (en) * 2015-05-29 2015-07-15 Cambridge Medical Robotics Ltd Characterising robot environments
JP6531829B2 (ja) * 2015-09-03 2019-06-19 株式会社安川電機 処理軌跡編集装置、ロボット、物品処理システム、及び物品製造方法
CN105345823B (zh) * 2015-10-29 2017-12-19 广东工业大学 一种基于空间力信息的工业机器人自由驱动示教方法
JP5892531B1 (ja) * 2015-11-16 2016-03-23 プレンプロジェクト・ホールディングス有限会社 リンク列マッピング装置、リンク列マッピング方法、及びプログラム
CN107303673A (zh) * 2016-04-19 2017-10-31 上海技美科技股份有限公司 机器人
TWI610245B (zh) * 2016-10-19 2018-01-01 廣明光電股份有限公司 機器人視覺座標的編程方法
DE102016221193B3 (de) * 2016-10-27 2018-01-04 Kuka Roboter Gmbh Verfahren zum Steuern eines Manipulators basierend auf Handerkennung
CN106737668A (zh) * 2016-12-09 2017-05-31 南京理工大学 一种基于虚拟现实的带电作业机器人遥操作方法
CN107199566B (zh) * 2017-06-02 2019-09-10 东南大学 一种基于虚拟手臂的面向空间站机器人的遥操作系统
CN107160364B (zh) * 2017-06-07 2021-02-19 华南理工大学 一种基于机器视觉的工业机器人示教系统及方法
TWI734867B (zh) * 2017-11-20 2021-08-01 達明機器人股份有限公司 機器手臂作業軌跡的教導系統及方法
DE102018124671B4 (de) * 2018-10-06 2020-11-26 Bystronic Laser Ag Verfahren und Vorrichtung zur Erstellung eines Robotersteuerprogramms
JP2020142344A (ja) * 2019-03-08 2020-09-10 トヨタ自動車株式会社 環境監視システム
JP7359577B2 (ja) * 2019-06-21 2023-10-11 ファナック株式会社 ロボット教示装置及びロボットシステム
DE102019118012B3 (de) * 2019-07-03 2020-09-17 Günther Battenberg Verfahren und Vorrichtung zum Steuern eines Robotersystems mittels menschlicher Bewegung
FR3101165B1 (fr) 2019-09-23 2021-10-15 Ponant Tech Procédé d’enregistrement de séquences de commande et de contrôle d’un robot de test, logiciel pour mise en œuvre de ce procédé
CN112917470A (zh) * 2019-12-06 2021-06-08 鲁班嫡系机器人（深圳）有限公司 一种机械手的示教方法、装置、系统、存储介质及设备
CN112894820A (zh) * 2021-01-29 2021-06-04 清华大学深圳国际研究生院 柔性机械臂遥操作人机交互装置及系统
CN113894774A (zh) * 2021-10-26 2022-01-07 季华实验室 一种机器人抓取控制方法、装置、存储介质和机器人

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JP2002239960A (ja) * 2001-02-21 2002-08-28 Sony Corp ロボット装置の動作制御方法、プログラム、記録媒体及びロボット装置
JP2002301674A (ja) * 2001-04-03 2002-10-15 Sony Corp 脚式移動ロボット及びその運動教示方法、並びに記憶媒体
JP2003211377A (ja) * 2002-01-18 2003-07-29 Hitachi Ltd マニピュレーション動作支援装置及びその支援方法
JP3742879B2 (ja) * 2003-07-30 2006-02-08 独立行政法人情報通信研究機構 ロボットアーム・ハンド操作制御方法、ロボットアーム・ハンド操作制御システム
US7848850B2 (en) * 2003-11-13 2010-12-07 Japan Science And Technology Agency Method for driving robot
JP5109098B2 (ja) * 2007-06-14 2012-12-26 本田技研工業株式会社 運動制御システム、運動制御方法および運動制御プログラム
JP5526465B2 (ja) * 2007-06-22 2014-06-18 国立大学法人 筑波大学 爪位置データ検出装置及び爪位置データ検出方法、並びに爪位置データ検出プログラム

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190048589A (ko) * 2017-10-31 2019-05-09 충남대학교산학협력단 가상 현실 기반 양팔로봇 교시 장치 및 방법
KR20200140834A (ko) * 2019-04-30 2020-12-16 치루 유니버시티 오브 테크놀로지 웨어러블 디바이스 기반의 이동 로봇 제어 시스템 및 제어 방법
CN110170996A (zh) * 2019-05-09 2019-08-27 广西安博特智能科技有限公司 一种基于立体视觉的机器人快速示教系统
CN110170996B (zh) * 2019-05-09 2022-08-19 广西安博特智能科技有限公司 一种基于立体视觉的机器人快速示教系统
WO2023013832A1 (ko) * 2021-08-05 2023-02-09 서울대학교병원 헤드셋 기반의 비접촉 손동작 인식 기술을 활용한 수술 로봇 제어 시스템
KR102553830B1 (ko) * 2022-06-28 2023-07-10 주식회사 포탈301 카메라를 이용한 실시간 로봇 원격 제어 방법 및 장치

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JP2011110621A (ja) 2011-06-09
WO2011065035A1 (ja) 2011-06-03
CN102470530A (zh) 2012-05-23

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