KR20220022441A - 위치 특정 장치, 위치 특정 장치의 제어 방법, 정보 처리 프로그램, 및 기록 매체 - Google Patents
위치 특정 장치, 위치 특정 장치의 제어 방법, 정보 처리 프로그램, 및 기록 매체 Download PDFInfo
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- KR20220022441A KR20220022441A KR1020210091139A KR20210091139A KR20220022441A KR 20220022441 A KR20220022441 A KR 20220022441A KR 1020210091139 A KR1020210091139 A KR 1020210091139A KR 20210091139 A KR20210091139 A KR 20210091139A KR 20220022441 A KR20220022441 A KR 20220022441A
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- South Korea
- Prior art keywords
- detection
- time
- control system
- servo control
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- 238000003384 imaging method Methods 0.000 claims abstract description 347
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- 238000013215 result calculation Methods 0.000 claims description 2
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Images
Classifications
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- 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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
- B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
-
- 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
- B25J9/1692—Calibration of manipulator
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Control Of Position Or Direction (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2020138200A JP7052840B2 (ja) | 2020-08-18 | 2020-08-18 | 位置特定装置、位置特定装置の制御方法、情報処理プログラム、および記録媒体 |
| JPJP-P-2020-138200 | 2020-08-18 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| KR20220022441A true KR20220022441A (ko) | 2022-02-25 |
Family
ID=80283053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1020210091139A KR20220022441A (ko) | 2020-08-18 | 2021-07-12 | 위치 특정 장치, 위치 특정 장치의 제어 방법, 정보 처리 프로그램, 및 기록 매체 |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP7052840B2 (zh) |
| KR (1) | KR20220022441A (zh) |
| CN (1) | CN114077247A (zh) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017102616A (ja) | 2015-11-30 | 2017-06-08 | オムロン株式会社 | 制御装置、制御方法、制御プログラム |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014076836A1 (ja) | 2012-11-19 | 2014-05-22 | 富士機械製造株式会社 | 部品実装機および実装検査機 |
| JP6245886B2 (ja) | 2013-08-08 | 2017-12-13 | キヤノン株式会社 | 画像撮像方法及び画像撮像装置 |
| JP6639181B2 (ja) | 2015-10-13 | 2020-02-05 | キヤノン株式会社 | 撮像装置、生産システム、撮像方法、プログラム及び記録媒体 |
| JP6830001B2 (ja) | 2017-02-10 | 2021-02-17 | 株式会社Ｆｕｊｉ | 伝送装置及び作業用ロボット |
| JP7078895B2 (ja) | 2018-06-11 | 2022-06-01 | オムロン株式会社 | 制御システム、制御装置、画像処理装置およびプログラム |
-
2020
- 2020-08-18 JP JP2020138200A patent/JP7052840B2/ja active Active
-
2021
- 2021-07-08 CN CN202110773607.3A patent/CN114077247A/zh active Pending
- 2021-07-12 KR KR1020210091139A patent/KR20220022441A/ko active Search and Examination
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017102616A (ja) | 2015-11-30 | 2017-06-08 | オムロン株式会社 | 制御装置、制御方法、制御プログラム |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114077247A (zh) | 2022-02-22 |
| JP7052840B2 (ja) | 2022-04-12 |
| JP2022034420A (ja) | 2022-03-03 |
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