KR20240130076A - 제어 장치, 제어 시스템, 로봇 시스템, 제어 방법 및 컴퓨터 프로그램 - Google Patents

제어 장치, 제어 시스템, 로봇 시스템, 제어 방법 및 컴퓨터 프로그램 Download PDF

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KR20240130076A
KR20240130076A KR1020247018276A KR20247018276A KR20240130076A KR 20240130076 A KR20240130076 A KR 20240130076A KR 1020247018276 A KR1020247018276 A KR 1020247018276A KR 20247018276 A KR20247018276 A KR 20247018276A KR 20240130076 A KR20240130076 A KR 20240130076A
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South Korea
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axis
work
image data
change amount
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KR1020247018276A
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English (en)
Korean (ko)
Inventor
고지 호소미
히카루 시게노
아시크 에프타카르
마키토 미야노
사토시 하세가와
고헤이 미무라
다이스케 고야나기
유스케 모리노
히데유키 사노
하야테 시미즈
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가부시키가이샤 니콘
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Publication of KR20240130076A publication Critical patent/KR20240130076A/ko
Pending legal-status Critical Current

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    • 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
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
KR1020247018276A 2021-12-27 2021-12-27 제어 장치, 제어 시스템, 로봇 시스템, 제어 방법 및 컴퓨터 프로그램 Pending KR20240130076A (ko)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/048572 WO2023127021A1 (ja) 2021-12-27 2021-12-27 制御装置、制御システム、ロボットシステム、制御方法及びコンピュータプログラム

Publications (1)

Publication Number Publication Date
KR20240130076A true KR20240130076A (ko) 2024-08-28

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Application Number Title Priority Date Filing Date
KR1020247018276A Pending KR20240130076A (ko) 2021-12-27 2021-12-27 제어 장치, 제어 시스템, 로봇 시스템, 제어 방법 및 컴퓨터 프로그램

Country Status (6)

Country Link
US (1) US20250214249A1 (https=)
EP (1) EP4458526A4 (https=)
JP (1) JPWO2023127021A1 (https=)
KR (1) KR20240130076A (https=)
CN (1) CN118369192A (https=)
WO (1) WO2023127021A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4516465A4 (en) * 2022-04-28 2026-03-11 Nikon Corp CONTROL DEVICE, CONTROL SYSTEM, ROBOTIC SYSTEM, CONTROL METHOD, AND COMPUTER PROGRAM
CN119403659A (zh) * 2022-06-21 2025-02-07 发那科株式会社 取得工件的位置数据的装置、控制装置、机器人系统、方法以及计算机程序
US12583111B2 (en) * 2023-09-06 2026-03-24 Mitsubishi Electric Research Laboratories, Inc. Eye-on-hand reinforcement learner for dynamic grasping with active pose estimation
CN121925331A (zh) * 2023-09-28 2026-04-24 株式会社尼康 控制装置、控制系统、机器人系统、控制方法及计算机程序

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130230235A1 (en) 2010-11-19 2013-09-05 Canon Kabushiki Kaisha Information processing apparatus and information processing method

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3300682B2 (ja) * 1999-04-08 2002-07-08 ファナック株式会社 画像処理機能を持つロボット装置
KR20140009774A (ko) * 2012-07-13 2014-01-23 삼성전자주식회사 3ｄ 이미지 센서 및 이를 포함하는 시스템
JP2016065718A (ja) * 2013-02-08 2016-04-28 三洋電機株式会社 情報取得装置および物体検出装置
US9694498B2 (en) * 2015-03-30 2017-07-04 X Development Llc Imager for detecting visual light and projected patterns
JP2017020873A (ja) * 2015-07-09 2017-01-26 キヤノン株式会社 被計測物の形状を計測する計測装置
JP2019119027A (ja) * 2018-01-10 2019-07-22 キヤノン株式会社 ロボットシステムの制御方法、およびロボットシステム
JP7528939B2 (ja) * 2019-07-17 2024-08-06 株式会社プロテリアル 検査装置、検査方法、位置決め方法、およびプログラム
US12175741B2 (en) * 2021-06-22 2024-12-24 Intrinsic Innovation Llc Systems and methods for a vision guided end effector

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130230235A1 (en) 2010-11-19 2013-09-05 Canon Kabushiki Kaisha Information processing apparatus and information processing method

Also Published As

Publication number Publication date
CN118369192A (zh) 2024-07-19
JPWO2023127021A1 (https=) 2023-07-06
EP4458526A1 (en) 2024-11-06
EP4458526A4 (en) 2025-11-12
US20250214249A1 (en) 2025-07-03
WO2023127021A1 (ja) 2023-07-06

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