KR20180084841A - 로봇 시스템의 감시장치 - Google Patents
로봇 시스템의 감시장치 Download PDFInfo
- Publication number
- KR20180084841A KR20180084841A KR1020187015949A KR20187015949A KR20180084841A KR 20180084841 A KR20180084841 A KR 20180084841A KR 1020187015949 A KR1020187015949 A KR 1020187015949A KR 20187015949 A KR20187015949 A KR 20187015949A KR 20180084841 A KR20180084841 A KR 20180084841A
- Authority
- KR
- South Korea
- Prior art keywords
- robot
- monitoring
- monitoring system
- robot system
- Prior art date
Links
Classifications
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- 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
-
- 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
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- 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
- G05B2219/37625—By measuring changing forces in a time window
-
- 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
- G05B2219/37632—By measuring current, load of motor
-
- 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
- G05B2219/39325—External force control, additional loop comparing forces corrects position
-
- 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
- G05B2219/40201—Detect contact, collision with human
-
- 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
- G05B2219/40202—Human robot coexistence
-
- 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
- G05B2219/40226—Input control signals to control system and to model, compare their outputs
-
- 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
- G05B2219/40559—Collision between hand and workpiece, operator
-
- 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
- G05B2219/40587—Measure force indirectly by using deviation in position
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41372—Force estimator using disturbance estimator observer
-
- 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
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42288—Limit, stop drive current if axis obstructed, blocked, force against stop
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2015-234488 | 2015-12-01 | ||
JP2015234488 | 2015-12-01 | ||
PCT/JP2016/004952 WO2017094240A1 (ja) | 2015-12-01 | 2016-11-24 | ロボットシステムの監視装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
KR20180084841A true KR20180084841A (ko) | 2018-07-25 |
Family
ID=58796639
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020187015949A KR20180084841A (ko) | 2015-12-01 | 2016-11-24 | 로봇 시스템의 감시장치 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10442080B2 (ko) |
EP (1) | EP3385040A4 (ko) |
JP (1) | JP6860498B2 (ko) |
KR (1) | KR20180084841A (ko) |
CN (1) | CN108367441A (ko) |
TW (1) | TWI625612B (ko) |
WO (1) | WO2017094240A1 (ko) |
Families Citing this family (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107378941B (zh) * | 2016-05-16 | 2022-02-18 | 精工爱普生株式会社 | 机器人、控制装置以及机器人系统 |
JP6526097B2 (ja) * | 2017-04-21 | 2019-06-05 | ファナック株式会社 | ロボットシステム |
JP6633587B2 (ja) | 2017-10-05 | 2020-01-22 | ファナック株式会社 | ロボットの構成部材の速度を制限する制御装置 |
JP7141232B2 (ja) | 2018-04-06 | 2022-09-22 | 川崎重工業株式会社 | ロボットの制御装置 |
DE102018112370B4 (de) * | 2018-05-23 | 2021-09-16 | Franka Emika Gmbh | Richtungsabhängige Kollisionsdetektion für einen Robotermanipulator |
JP7275488B2 (ja) * | 2018-07-24 | 2023-05-18 | セイコーエプソン株式会社 | ロボットシステム |
JP6836557B2 (ja) * | 2018-08-30 | 2021-03-03 | ファナック株式会社 | 人間協調ロボットシステム |
JP7144247B2 (ja) * | 2018-09-03 | 2022-09-29 | 川崎重工業株式会社 | ロボットの制御装置 |
CN109202907B (zh) * | 2018-10-08 | 2024-02-27 | 广州数控设备有限公司 | 一种基于工业机器人的无传感弹性碰撞装置及方法 |
JP6863945B2 (ja) * | 2018-10-24 | 2021-04-21 | ファナック株式会社 | ロボットの制御方法 |
GB2578791B (en) * | 2018-11-09 | 2022-08-17 | Cmr Surgical Ltd | Haptic control of a surgeon console |
WO2020101516A1 (en) * | 2018-11-12 | 2020-05-22 | Obshchestvo S Ogranichennoy Otvetstvennostyu "Tra Robotics" | Sensor-free force/torque sensing in an articulated electromechanical actuator-driven robot |
EP3680738A1 (de) * | 2019-01-14 | 2020-07-15 | Siemens Aktiengesellschaft | Kollisionsprüfung auf basis höherwertiger geometrie |
JP7326139B2 (ja) * | 2019-12-09 | 2023-08-15 | 株式会社東芝 | 作業支援装置、作業支援方法、プログラム、および作業支援システム |
CN113031498A (zh) * | 2019-12-25 | 2021-06-25 | 日本电产三协株式会社 | 机器人的监视系统 |
JP7401297B2 (ja) * | 2019-12-26 | 2023-12-19 | ファナック株式会社 | バランサの異常検出システム及びバランサの異常検出方法 |
JP7029681B2 (ja) * | 2020-03-18 | 2022-03-04 | 株式会社安川電機 | ロボット制御装置、ロボット制御システム、及びロボット制御方法 |
TWI766252B (zh) * | 2020-03-18 | 2022-06-01 | 揚明光學股份有限公司 | 光學鏡頭製造系統及應用其之光學鏡頭製造方法 |
CN115803695A (zh) | 2020-07-08 | 2023-03-14 | 发那科株式会社 | 机器人控制装置 |
TWI764377B (zh) * | 2020-11-16 | 2022-05-11 | 達明機器人股份有限公司 | 機器人安全補償重量的系統及方法 |
US11628568B2 (en) | 2020-12-28 | 2023-04-18 | Industrial Technology Research Institute | Cooperative robotic arm system and homing method thereof |
CN112775971A (zh) * | 2021-01-07 | 2021-05-11 | 配天机器人技术有限公司 | 提升安全性能的方法、机器人控制柜及存储介质 |
JP2023040964A (ja) * | 2021-09-10 | 2023-03-23 | 株式会社デンソーウェーブ | ロボット制御システム |
JP2023040965A (ja) * | 2021-09-10 | 2023-03-23 | 株式会社デンソーウェーブ | ロボット制御システム |
WO2023157261A1 (ja) * | 2022-02-18 | 2023-08-24 | ファナック株式会社 | ロボット制御装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07223190A (ja) | 1994-02-03 | 1995-08-22 | Yaskawa Electric Corp | ロボット制御装置 |
JPH07251394A (ja) | 1994-03-17 | 1995-10-03 | Fujitsu Ltd | ロボットの状況監視装置 |
JP2001525263A (ja) | 1997-12-06 | 2001-12-11 | エラン・シャルトエレメンテ・ゲーエムベーハー・ウント・コンパニー・カーゲー | 高い安全性が要求される技術設備、特にマニピュレータの監視のための監視・制御装置及び方法 |
JP2008022590A (ja) | 2006-07-10 | 2008-01-31 | Nachi Fujikoshi Corp | サーボモータ監視装置 |
JP2015526309A (ja) | 2012-08-31 | 2015-09-10 | リシンク ロボティクス インコーポレイテッド | 安全ロボット動作のためのシステムおよび方法 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2870482B2 (ja) * | 1996-05-10 | 1999-03-17 | 日本電気株式会社 | サーボモータの位置制御方法および制御装置 |
JPH1170490A (ja) * | 1997-06-30 | 1999-03-16 | Nachi Fujikoshi Corp | 産業用ロボットの衝突検出方法 |
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 |
JP2003236787A (ja) | 2002-02-18 | 2003-08-26 | Kawasaki Heavy Ind Ltd | 駆動制御方法および駆動制御装置 |
ATE459030T1 (de) * | 2006-09-14 | 2010-03-15 | Abb Research Ltd | Verfahren und vorrichtung zur vermeidung von kollisionen zwischen einem industrieroboter und einem objekt |
JP2008183680A (ja) * | 2007-01-31 | 2008-08-14 | Yaskawa Electric Corp | 負荷機械の制御装置とその衝突検出しきい値更新方法 |
CN101925444B (zh) * | 2008-01-22 | 2012-07-04 | 松下电器产业株式会社 | 机械臂 |
KR20090124560A (ko) * | 2008-05-30 | 2009-12-03 | 삼성전자주식회사 | 로봇 매니퓰레이터의 제어장치 및 그 제어방법 |
JP4938118B2 (ja) * | 2010-08-17 | 2012-05-23 | ファナック株式会社 | 人間協調ロボットシステム |
DE102010063214A1 (de) | 2010-12-16 | 2012-06-21 | Robert Bosch Gmbh | Sicherungseinrichtung für eine Handhabungsvorrichtung, insbesondere einen Industrieroboter, sowie Verfahren zum Betreiben der Sicherungseinrichtung |
TWM408470U (en) * | 2011-03-10 | 2011-08-01 | Lnc Technology Co Ltd | Forbidden region setting device for mechanical arm |
WO2014110682A1 (en) * | 2013-01-18 | 2014-07-24 | Robotiq Inc. | Force/torque sensor, apparatus and method for robot teaching and operation |
DE202013104264U1 (de) * | 2013-09-18 | 2015-01-09 | Daimler Ag | Arbeitsstation |
TWI547355B (zh) * | 2013-11-11 | 2016-09-01 | 財團法人工業技術研究院 | 人機共生安全監控系統及其方法 |
CN104626208A (zh) * | 2015-01-07 | 2015-05-20 | 北京卫星环境工程研究所 | 航天器机械臂辅助装配安全工作空间建立及干涉预警方法 |
-
2016
- 2016-11-24 WO PCT/JP2016/004952 patent/WO2017094240A1/ja active Application Filing
- 2016-11-24 JP JP2017553617A patent/JP6860498B2/ja active Active
- 2016-11-24 CN CN201680069981.2A patent/CN108367441A/zh active Pending
- 2016-11-24 US US15/780,677 patent/US10442080B2/en active Active
- 2016-11-24 KR KR1020187015949A patent/KR20180084841A/ko active IP Right Grant
- 2016-11-24 EP EP16870182.9A patent/EP3385040A4/en active Pending
- 2016-11-30 TW TW105139450A patent/TWI625612B/zh not_active IP Right Cessation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07223190A (ja) | 1994-02-03 | 1995-08-22 | Yaskawa Electric Corp | ロボット制御装置 |
JPH07251394A (ja) | 1994-03-17 | 1995-10-03 | Fujitsu Ltd | ロボットの状況監視装置 |
JP2001525263A (ja) | 1997-12-06 | 2001-12-11 | エラン・シャルトエレメンテ・ゲーエムベーハー・ウント・コンパニー・カーゲー | 高い安全性が要求される技術設備、特にマニピュレータの監視のための監視・制御装置及び方法 |
JP2008022590A (ja) | 2006-07-10 | 2008-01-31 | Nachi Fujikoshi Corp | サーボモータ監視装置 |
JP2015526309A (ja) | 2012-08-31 | 2015-09-10 | リシンク ロボティクス インコーポレイテッド | 安全ロボット動作のためのシステムおよび方法 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2017094240A1 (ja) | 2018-09-13 |
WO2017094240A1 (ja) | 2017-06-08 |
US10442080B2 (en) | 2019-10-15 |
JP6860498B2 (ja) | 2021-04-14 |
TWI625612B (zh) | 2018-06-01 |
EP3385040A4 (en) | 2019-12-18 |
EP3385040A1 (en) | 2018-10-10 |
CN108367441A (zh) | 2018-08-03 |
US20180361578A1 (en) | 2018-12-20 |
TW201727409A (zh) | 2017-08-01 |
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