TW200602829A - Robot teaching apparatus - Google Patents

Robot teaching apparatus

Info

Publication number
TW200602829A
TW200602829A TW094109963A TW94109963A TW200602829A TW 200602829 A TW200602829 A TW 200602829A TW 094109963 A TW094109963 A TW 094109963A TW 94109963 A TW94109963 A TW 94109963A TW 200602829 A TW200602829 A TW 200602829A
Authority
TW
Taiwan
Prior art keywords
robot
copying control
settings
region
orientation
Prior art date
Application number
TW094109963A
Other languages
English (en)
Other versions
TWI276933B (en
Inventor
Ryo Nihei
Tetsuaki Kato
Teruki Kuroshita
Original Assignee
Fanuc Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Ltd filed Critical Fanuc Ltd
Publication of TW200602829A publication Critical patent/TW200602829A/zh
Application granted granted Critical
Publication of TWI276933B publication Critical patent/TWI276933B/zh

Links

Classifications

    • 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
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • 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
    • G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • 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
    • G05B2219/39298—Trajectory learning

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
TW094109963A 2004-03-31 2005-03-30 Robot teaching apparatus TWI276933B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2004105791A JP3923053B2 (ja) 2004-03-31 2004-03-31 ロボット教示装置

Publications (2)

Publication Number Publication Date
TW200602829A true TW200602829A (en) 2006-01-16
TWI276933B TWI276933B (en) 2007-03-21

Family

ID=34880078

Family Applications (1)

Application Number Title Priority Date Filing Date
TW094109963A TWI276933B (en) 2004-03-31 2005-03-30 Robot teaching apparatus

Country Status (6)

Country Link
US (1) US20050222714A1 (zh)
EP (1) EP1582955A2 (zh)
JP (1) JP3923053B2 (zh)
KR (1) KR100741618B1 (zh)
CN (1) CN100336637C (zh)
TW (1) TWI276933B (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI502296B (zh) * 2014-08-27 2015-10-01 Hiwin Tech Corp 機器人的教導裝置
TWI725630B (zh) * 2019-11-21 2021-04-21 財團法人工業技術研究院 加工路徑生成裝置及其方法
US11474510B2 (en) 2016-04-12 2022-10-18 Universal Robots A/S Programming a robot by demonstration
TWI805978B (zh) * 2020-12-22 2023-06-21 達明機器人股份有限公司 雙迴路力矩感知系統及其感知方法

Families Citing this family (86)

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JP4553203B2 (ja) * 2005-08-01 2010-09-29 国立大学法人 名古屋工業大学 作業補助装置
JP2007038059A (ja) * 2005-08-01 2007-02-15 Nagoya Institute Of Technology 作業補助装置
JP4171488B2 (ja) * 2005-12-16 2008-10-22 ファナック株式会社 オフラインプログラミング装置
JP4873253B2 (ja) * 2007-09-18 2012-02-08 株式会社安川電機 ロボットの直接教示装置
CN101425149B (zh) * 2007-11-02 2010-10-13 阿丹电子企业股份有限公司 利用电子标带监控人身行动安全的装置及其方法
EP2258521B1 (en) 2008-02-28 2015-08-19 Panasonic Intellectual Property Management Co., Ltd. Control apparatus and control method for a robot arm, robot, control program for a robot arm, and electronic integrated circuit for controlling a robot arm
JP5163299B2 (ja) * 2008-06-04 2013-03-13 株式会社Ｉｈｉ ロボット制御装置
DE102008027008B4 (de) * 2008-06-06 2016-03-17 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern eines Manipulators
CN102077260B (zh) * 2008-06-27 2014-04-09 悠进机器人股份公司 利用机器人的交互式学习系统和在儿童教育中操作该系统的方法
JP5293039B2 (ja) * 2008-09-19 2013-09-18 株式会社安川電機 ロボットシステムおよびロボットの制御方法
EP2194434B1 (en) * 2008-12-05 2012-05-30 COMAU SpA Robot system
EP2431138A4 (en) * 2009-01-09 2014-06-04 Panasonic Corp CONTROL DEVICE AND CONTROL METHOD FOR A ROBOT ARM, ROBOT, CONTROL PROGRAM FOR THE ROBOT ARM AND INTEGRATED ELECTRONIC CIRCUIT
JP5509673B2 (ja) * 2009-05-22 2014-06-04 株式会社Ｉｈｉ ロボット制御装置およびその制御方法
KR101100108B1 (ko) 2010-02-26 2011-12-29 주식회사 엔티리서치 교시기구 및 이를 구비한 직접교시장치
CN102427917A (zh) * 2010-03-17 2012-04-25 松下电器产业株式会社 并联连杆机器人及并联连杆机器人的教示方法
CN101833892A (zh) * 2010-04-30 2010-09-15 东南大学 用于焊接机器人的嵌入式示教编程装置及方法
AT509927B1 (de) * 2010-06-08 2015-05-15 Keba Ag Verfahren zum programmieren oder vorgeben von bewegungen oder abläufen eines industrieroboters
CN102725109B (zh) * 2010-07-27 2015-03-18 松下电器产业株式会社 移动路径搜索装置及移动路径搜索方法
CN102568269A (zh) * 2010-12-30 2012-07-11 沈阳新松机器人自动化股份有限公司 一种具有示教盒功能的控制系统
CN102950596B (zh) * 2011-08-23 2015-11-11 松下电器产业株式会社 并联连杆机器人及其动作示教方法
KR101305819B1 (ko) * 2012-01-04 2013-09-06 현대자동차주식회사 착용식 로봇의 사용자 조작 의도 토크 추출방법
CN102622937A (zh) * 2012-03-08 2012-08-01 南京埃斯顿机器人工程有限公司 一种机器人示教器
CN102658549A (zh) * 2012-05-10 2012-09-12 上海理工大学 具有plc功能的六轴工业机器人控制系统
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CN103085071A (zh) * 2013-02-04 2013-05-08 惠州市东扬科技有限公司 一种可视化机器人程序编译方法
EP2967589B1 (en) 2013-03-15 2019-04-24 Stryker Corporation End effector of a surgical robotic manipulator
JP5673717B2 (ja) * 2013-03-19 2015-02-18 株式会社安川電機 ロボットシステム及び被加工物の製造方法
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JP5893665B2 (ja) 2014-04-14 2016-03-23 ファナック株式会社 作用された力に応じて移動されるロボットを制御するロボット制御装置
JP5893664B2 (ja) 2014-04-14 2016-03-23 ファナック株式会社 作用された力に応じて移動されるロボットを制御するロボット制御装置
JP6193816B2 (ja) 2014-06-20 2017-09-06 ファナック株式会社 アームの退避機能を有する多関節ロボット
US9788910B2 (en) 2014-07-01 2017-10-17 Auris Surgical Robotics, Inc. Instrument-mounted tension sensing mechanism for robotically-driven medical instruments
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
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JP6660102B2 (ja) * 2014-08-27 2020-03-04 キヤノン株式会社 ロボット教示装置およびその制御方法、ロボットシステム、プログラム
JP6416560B2 (ja) 2014-09-11 2018-10-31 株式会社デンソー 位置決め制御装置
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CN104308850B (zh) * 2014-10-09 2015-12-23 南京工业职业技术学院 一种机械手示教3d传感手柄
US9804593B1 (en) * 2014-12-12 2017-10-31 X Development Llc Methods and systems for teaching positions to components of devices
US9592608B1 (en) * 2014-12-15 2017-03-14 X Development Llc Methods and systems for providing feedback during teach mode
JP6081981B2 (ja) * 2014-12-19 2017-02-15 ファナック株式会社 教示プログラムの自動表示手段を備える数値制御装置
EP3277467B1 (en) * 2015-03-31 2020-04-29 ABB Schweiz AG A method for controlling an industrial robot by touch
US10888996B2 (en) * 2015-04-03 2021-01-12 Think Surgical, Inc. Robotic system with intuitive motion control
JP6088583B2 (ja) * 2015-06-08 2017-03-01 ファナック株式会社 ロボットと力の表示機能を備えたロボット制御装置
DE102015009151A1 (de) * 2015-07-14 2017-01-19 Kuka Roboter Gmbh Ermitteln eines Eingabebefehls für einen Roboter, der durch manuelles Ausüben einer Kraft auf den Roboter eingegeben wird
WO2017036520A1 (en) * 2015-09-02 2017-03-09 Abb Schweiz Ag System and method for generating a robot program with a hand-held teaching device
WO2017044884A1 (en) 2015-09-09 2017-03-16 Auris Surgical Robotics, Inc. Instrument device manipulator for a surgical robotics system
JP6489991B2 (ja) * 2015-10-02 2019-03-27 ファナック株式会社 ロボットを操作するハンドルを備えたロボット用操作装置
DE102015012959B4 (de) * 2015-10-08 2019-01-17 Franka Emika Gmbh Robotersystem und Verfahren zur Steuerung eines Robotersystems
WO2017064851A1 (ja) * 2015-10-14 2017-04-20 川崎重工業株式会社 ロボット教示方法及びロボットアーム制御装置
FR3043004B1 (fr) * 2015-10-29 2017-12-22 Airbus Group Sas Procede d'orientation d'un effecteur portant un outil d'assemblage par rapport a une surface
JP6706489B2 (ja) * 2015-11-24 2020-06-10 川崎重工業株式会社 ロボットのダイレクト教示方法
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AT518481B1 (de) * 2016-03-07 2018-09-15 Keba Ag System und Verfahren zur räumlichen Bewegung eines Objekts
JP6733239B2 (ja) * 2016-03-18 2020-07-29 セイコーエプソン株式会社 制御装置及びロボットシステム
JP6746990B2 (ja) * 2016-03-18 2020-08-26 セイコーエプソン株式会社 ロボット制御装置及びロボットシステム
CN105690421A (zh) * 2016-04-21 2016-06-22 奇弩（北京）科技有限公司 自动记忆轨迹的通用机械臂
KR102048820B1 (ko) * 2016-11-28 2019-11-26 한국기계연구원 수동 강성 그리퍼를 이용한 조립 교시 방법
CN108115711A (zh) * 2016-11-29 2018-06-05 沈阳新松机器人自动化股份有限公司 一种机器人的示教系统
CN106737691A (zh) * 2017-02-07 2017-05-31 珠海金萝卜智动科技有限公司 手动示教机器人的方法和装置
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JP7106874B2 (ja) * 2017-03-21 2022-07-27 セイコーエプソン株式会社 制御装置、教示装置、及びロボットシステム
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JPWO2019102562A1 (ja) * 2017-11-22 2019-11-21 三菱電機株式会社 表示操作器および人協働ロボット
CN109986238B (zh) * 2017-12-29 2021-02-26 深圳中集智能科技有限公司 机器人类线形柔性作业视觉模糊仿形控制方法
JP7091777B2 (ja) * 2018-03-30 2022-06-28 株式会社安川電機 ロボットシステム及び制御方法
JP7048176B2 (ja) * 2018-05-23 2022-04-05 アズビル株式会社 ロボットの直接教示装置及び直接教示方法
JP7263724B2 (ja) * 2018-09-27 2023-04-25 株式会社デンソーウェーブ ロボットの制御方法
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JP7053443B2 (ja) * 2018-12-07 2022-04-12 ファナック株式会社 操作装置にて手動操作を行うロボットの制御装置
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JP7388870B2 (ja) * 2019-10-18 2023-11-29 ファナック株式会社 ロボットシステムおよび制御装置
CN112846737A (zh) * 2021-01-07 2021-05-28 深圳市驰速自动化设备有限公司 一种拖动示教自动锁螺丝机软件控制系统
EP4295200A4 (en) * 2021-02-17 2024-12-25 Avridh Technologies, Inc. SYSTEM AND METHOD FOR CONTROLLING THE NAVIGATION OF A ROBOT IN A DYNAMIC ENVIRONMENT BASED ON HEURISTIC LEARNING
CN116981549A (zh) 2021-03-17 2023-10-31 发那科株式会社 机器人用操作装置以及机器人
KR102513381B1 (ko) * 2021-04-15 2023-03-22 충남대학교산학협력단 멀티모달 센싱을 이용한 토크와 자세기반 로봇 교시법
JP7108761B1 (ja) * 2021-07-26 2022-07-28 日鉄エンジニアリング株式会社 制御システム、制御方法及びプログラム
KR102682481B1 (ko) * 2022-08-30 2024-07-04 한국로봇융합연구원 진공 챔버 내 매니퓰레이터를 위한 원격 마스터 암 장치
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TWI502296B (zh) * 2014-08-27 2015-10-01 Hiwin Tech Corp 機器人的教導裝置
US11474510B2 (en) 2016-04-12 2022-10-18 Universal Robots A/S Programming a robot by demonstration
TWI805545B (zh) * 2016-04-12 2023-06-21 丹麥商環球機器人公司 用於藉由示範來程式化機器人之方法和電腦程式產品
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US11648667B2 (en) 2019-11-21 2023-05-16 Industrial Technology Research Institute Processing path generating device and method thereof
TWI805978B (zh) * 2020-12-22 2023-06-21 達明機器人股份有限公司 雙迴路力矩感知系統及其感知方法

Also Published As

Publication number Publication date
EP1582955A2 (en) 2005-10-05
KR20060044963A (ko) 2006-05-16
US20050222714A1 (en) 2005-10-06
JP2005293098A (ja) 2005-10-20
CN100336637C (zh) 2007-09-12
JP3923053B2 (ja) 2007-05-30
KR100741618B1 (ko) 2007-07-23
TWI276933B (en) 2007-03-21
CN1676287A (zh) 2005-10-05

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