TWI566906B - 機器人、機器人的控制方法及機器人的控制程式 - Google Patents

機器人、機器人的控制方法及機器人的控制程式 Download PDF

Info

Publication number
TWI566906B
TWI566906B TW103140901A TW103140901A TWI566906B TW I566906 B TWI566906 B TW I566906B TW 103140901 A TW103140901 A TW 103140901A TW 103140901 A TW103140901 A TW 103140901A TW I566906 B TWI566906 B TW I566906B
Authority
TW
Taiwan
Prior art keywords
point
workpiece
correction amount
robot
workpiece correction
Prior art date
Application number
TW103140901A
Other languages
English (en)
Chinese (zh)
Other versions
TW201524721A (zh
Inventor
住居裕介
比留間健一郎
Original Assignee
車樂美縫衣機工業股份有限公司
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 車樂美縫衣機工業股份有限公司 filed Critical 車樂美縫衣機工業股份有限公司
Publication of TW201524721A publication Critical patent/TW201524721A/zh
Application granted granted Critical
Publication of TWI566906B publication Critical patent/TWI566906B/zh

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
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme 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
    • 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
    • G05B19/402—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 positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct 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
    • G05B2219/37—Measurements
    • G05B2219/37021—Robot controls position of touch probe
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/16—Cartesian, three degrees of freedom
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
TW103140901A 2013-12-20 2014-11-26 機器人、機器人的控制方法及機器人的控制程式 TWI566906B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2013263654A JP6475409B2 (ja) 2013-12-20 2013-12-20 ロボット、ロボットの制御方法、及びロボットの制御プログラム

Publications (2)

Publication Number Publication Date
TW201524721A TW201524721A (zh) 2015-07-01
TWI566906B true TWI566906B (zh) 2017-01-21

Family

ID=53399930

Family Applications (1)

Application Number Title Priority Date Filing Date
TW103140901A TWI566906B (zh) 2013-12-20 2014-11-26 機器人、機器人的控制方法及機器人的控制程式

Country Status (6)

Country Link
US (1) US9958856B2 (enExample)
JP (1) JP6475409B2 (enExample)
KR (1) KR101658417B1 (enExample)
CN (1) CN104723338B (enExample)
DE (1) DE102014117346B4 (enExample)
TW (1) TWI566906B (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200368918A1 (en) * 2017-08-25 2020-11-26 Fanuc Corporation Robot system

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6311695B2 (ja) 2015-12-16 2018-04-18 カシオ計算機株式会社 自律移動装置、自律移動方法及びプログラム
CN105551323A (zh) * 2016-01-29 2016-05-04 广州中鸣数码科技有限公司 基于无线连接的智能点读笔
JP6963748B2 (ja) * 2017-11-24 2021-11-10 株式会社安川電機 ロボットシステム及びロボットシステムの制御方法
CN109226928B (zh) * 2018-11-14 2021-05-25 紫光日东科技（深圳）有限公司 一种焊接材料设置方法和点锡机
CN110253567B (zh) * 2019-05-22 2021-07-20 深圳镁伽科技有限公司 用于控制机器人运动的运动控制系统、方法及机器人
CN113021329B (zh) * 2019-12-24 2022-08-02 深圳市优必选科技股份有限公司 一种机器人运动控制方法、装置、可读存储介质及机器人
CN113780464B (zh) * 2021-09-26 2024-10-15 唐山百川智能机器股份有限公司 转向架紧固件防松标识检测方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004299013A (ja) * 2003-03-31 2004-10-28 Fanuc Ltd 誤差修正フィードバック機能を有するロボットオフラインプログラミング装置
CN101213049A (zh) * 2006-05-31 2008-07-02 松下电器产业株式会社 旋转中心点计算方法、旋转轴线计算方法、程序的生成、动作方法以及机器人装置
CN101828153A (zh) * 2007-09-04 2010-09-08 武藏工业株式会社 作成移动程序的程序与装置
CN103056884A (zh) * 2011-10-20 2013-04-24 株式会社安川电机 机器人系统和被加工对象物制造方法

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3244368A (en) * 1964-07-21 1966-04-05 Veeder Root Inc Counter reset mechanism
SE402540B (sv) * 1976-08-13 1978-07-10 Asea Ab Forfarande och anordning for att vid en givarstyrd industrirobot astadkomma en approximativ transformation mellan givarens och robotarmens olika koordinatsystem for styrning av roboten inom ett forutbestemt ...
JPS59153207A (ja) * 1983-02-21 1984-09-01 Mitsubishi Electric Corp ロボツトの制御装置
JPH01153289A (ja) * 1987-12-10 1989-06-15 Mitsubishi Electric Corp 産業用ロボット装置
JPH0623562A (ja) * 1992-07-07 1994-02-01 Ohara Kk 電動機駆動による点溶接ガンの加圧力制御装置
JPH0623652A (ja) * 1992-07-09 1994-02-01 Mitsui Seiki Kogyo Co Ltd ワークオフセット値設定装置
JPH06187021A (ja) * 1992-12-15 1994-07-08 Citizen Watch Co Ltd 視覚付きロボットの座標補正方法
JPH06218683A (ja) * 1993-01-20 1994-08-09 Tokico Ltd ワーク位置ずれ検知装置
KR0167021B1 (ko) * 1993-03-15 1999-02-01 카타다 테쯔야 자동연삭장치
JPH0839357A (ja) * 1994-07-26 1996-02-13 Makino Milling Mach Co Ltd 放電加工システム
JP4667417B2 (ja) * 2000-08-25 2011-04-13 蛇の目ミシン工業株式会社 ロボットの動作設定方法
US6662082B2 (en) 2000-08-25 2003-12-09 Janome Sewing Machine Co., Ltd. System for operating a robot with easy programming
US6820179B2 (en) * 2000-12-04 2004-11-16 Hitachi Hokkai Semiconductor, Ltd. Semiconductor device and data processing system
JP2006099260A (ja) * 2004-09-28 2006-04-13 Fanuc Ltd ロボットプログラム作成装置
JP2011206878A (ja) * 2010-03-29 2011-10-20 Fuji Xerox Co Ltd 組立検査装置及びこれを用いた組立処理装置
KR101271222B1 (ko) * 2010-11-30 2013-06-07 김종길 Ｃｎｃ 선반
KR101181613B1 (ko) * 2011-02-21 2012-09-10 윤상진 사용자 지정에 따라 결정되는 변위 정보에 기초하여 수술을 수행하는 수술용 로봇 시스템과 그 제어 방법
KR101148867B1 (ko) * 2011-10-26 2012-05-29 (주)신흥텔레콤 휴대폰 조립용 지그

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004299013A (ja) * 2003-03-31 2004-10-28 Fanuc Ltd 誤差修正フィードバック機能を有するロボットオフラインプログラミング装置
CN101213049A (zh) * 2006-05-31 2008-07-02 松下电器产业株式会社 旋转中心点计算方法、旋转轴线计算方法、程序的生成、动作方法以及机器人装置
CN101828153A (zh) * 2007-09-04 2010-09-08 武藏工业株式会社 作成移动程序的程序与装置
CN103056884A (zh) * 2011-10-20 2013-04-24 株式会社安川电机 机器人系统和被加工对象物制造方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200368918A1 (en) * 2017-08-25 2020-11-26 Fanuc Corporation Robot system
US11565427B2 (en) * 2017-08-25 2023-01-31 Fanuc Corporation Robot system

Also Published As

Publication number Publication date
JP2015116655A (ja) 2015-06-25
DE102014117346B4 (de) 2017-05-24
KR101658417B1 (ko) 2016-09-21
KR20150073068A (ko) 2015-06-30
CN104723338B (zh) 2017-11-14
JP6475409B2 (ja) 2019-02-27
US9958856B2 (en) 2018-05-01
TW201524721A (zh) 2015-07-01
US20150177730A1 (en) 2015-06-25
CN104723338A (zh) 2015-06-24
DE102014117346A1 (de) 2015-08-06

Similar Documents

Publication Publication Date Title
TWI566906B (zh) 機器人、機器人的控制方法及機器人的控制程式
US12042942B2 (en) Robot hand-eye calibration method and apparatus, computing device, medium and product
JP5850958B2 (ja) ワークを撮像するためのロボットプログラムを作成するロボットプログラミング装置
CN105269578B (zh) 指示装置以及机器人系统
CN107030699B (zh) 位姿误差修正方法及装置、机器人及存储介质
KR20180120647A (ko) 가이드된 어셈블리 환경에서 머신비전 좌표공간과 함께 묶기 위한 시스템 및 방법
CN113825980A (zh) 机器人手眼标定方法、装置、计算设备、介质以及产品
JP2015174191A (ja) ロボットシステム、ロボットシステムのキャリブレーション方法およびロボットシステムの位置補正方法
CN103646377B (zh) 一种坐标转换方法及装置
JP6669714B2 (ja) 教示操作盤およびロボット制御システム
JP2015005093A (ja) パターンマッチング装置及びパターンマッチング方法
EP3933542B1 (en) Control device and alignment device
KR101820241B1 (ko) 그리퍼를 이용한 물체의 움직임 추정 장치 및 그 방법
WO2016194078A1 (ja) 情報処理装置及びキャリブレーション方法及びキャリブレーション処理プログラム
US20180365791A1 (en) Control device, position control system, position control method, and recording medium
JP2014144516A (ja) ロボット制御装置、ロボットシステム、ロボット、制御方法及びプログラム
JP7712373B2 (ja) 教示装置及びロボットシステム
CN112184819B (zh) 机器人的引导方法、装置、计算机设备和存储介质
JP6220514B2 (ja) ロボット制御システムおよびロボット制御方法
EP4382260A1 (en) Robot control device, robot control system, and robot control method
JP7362107B2 (ja) 制御装置、制御方法およびプログラム
CN111522299A (zh) 机械控制装置
JP2016107372A (ja) ロボット制御装置
CN111522295A (zh) 机械控制装置
JP2019200677A (ja) 加工システムの制御装置、加工システム及び加工方法