TWI755947B - 機器人系統之控制方法 - Google Patents

機器人系統之控制方法 Download PDF

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Publication number
TWI755947B
TWI755947B TW109141624A TW109141624A TWI755947B TW I755947 B TWI755947 B TW I755947B TW 109141624 A TW109141624 A TW 109141624A TW 109141624 A TW109141624 A TW 109141624A TW I755947 B TWI755947 B TW I755947B
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TW
Taiwan
Prior art keywords
vehicle
mentioned
workstation
robot
robot arm
Prior art date
Application number
TW109141624A
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English (en)
Chinese (zh)
Other versions
TW202120273A (zh
Inventor
金井裕之
年光俊介
Original Assignee
日商精工愛普生股份有限公司
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Publication of TW202120273A publication Critical patent/TW202120273A/zh
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    • 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
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • B25J9/1602—Program 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
    • B25J13/00—Controls for manipulators
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • 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
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31004—Move vehicle to battery charge or maintenance area
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34306—Power down, energy saving
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34315—Power supply turning on or shutting off
    • 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
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile
    • 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
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
    • 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
    • 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
    • Y02P90/60—Electric or hybrid propulsion means for production processes

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
TW109141624A 2019-11-29 2020-11-26 機器人系統之控制方法 TWI755947B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-216058 2019-11-29
JP2019216058A JP7392428B2 (ja) 2019-11-29 2019-11-29 ロボットシステムの制御方法

Publications (2)

Publication Number Publication Date
TW202120273A TW202120273A (zh) 2021-06-01
TWI755947B true TWI755947B (zh) 2022-02-21

Family

ID=73475886

Family Applications (1)

Application Number Title Priority Date Filing Date
TW109141624A TWI755947B (zh) 2019-11-29 2020-11-26 機器人系統之控制方法

Country Status (5)

Country Link
US (1) US11633851B2 (https=)
EP (1) EP3827936B1 (https=)
JP (1) JP7392428B2 (https=)
CN (1) CN112873198B (https=)
TW (1) TWI755947B (https=)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116833996A (zh) * 2022-03-25 2023-10-03 美的集团股份有限公司 工业机器人的控制方法、设备及存储介质
WO2023192681A1 (en) * 2022-04-01 2023-10-05 Vanderbilt University Inertia-based improvements to robots and robotic systems
JP7808787B2 (ja) * 2022-12-29 2026-01-30 パナソニックＩｐマネジメント株式会社 搬送制御システム、搬送システム、及び搬送制御システムの制御方法

Citations (5)

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US8800695B2 (en) * 2006-10-06 2014-08-12 Irobot Corporation Robotic vehicle
CN105643589A (zh) * 2016-03-08 2016-06-08 北京工业大学 一种自主排障式智能车系统
JP2018118341A (ja) * 2017-01-24 2018-08-02 三菱重工エンジン＆ターボチャージャ株式会社 作業ロボット及び生産システム
CN208756849U (zh) * 2018-06-20 2019-04-19 南阳防爆电气研究所有限公司 一种消防灭火侦察防爆机器人
CN209140881U (zh) * 2018-09-12 2019-07-23 珠海心怡科技有限公司 通用型建筑室内工程智能机器人

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JPH01115580A (ja) * 1987-10-28 1989-05-08 Mitsubishi Electric Corp マニピュレータ付搬送車のマニピュレータ保持装置
JPH04240078A (ja) * 1991-01-22 1992-08-27 Sony Corp ロボットを搭載した搬送車及びこれを用いる生産装置
JP4491912B2 (ja) * 2000-05-22 2010-06-30 ソニー株式会社 バッテリ駆動の脚式移動ロボット及びその制御方法
JP2008260117A (ja) 2007-03-16 2008-10-30 Nsk Ltd 脚車輪型ロボット及び脚車輪装置
JP6474339B2 (ja) * 2015-09-01 2019-02-27 ファナック株式会社 ブレーキの異常による駆動軸における部材の移動を停止する機械
JP2017132002A (ja) * 2016-01-28 2017-08-03 株式会社安川電機 ロボットアーム付自動搬送車、ロボットシステム、及びロボットアーム付自動搬送車の制御方法
CN107305372B (zh) * 2016-04-25 2020-06-19 岳秀兰 云计算网络架构的远程监控的电动汽车能源监控和补给网
CN106043247B (zh) * 2016-06-23 2020-02-28 蔚来汽车有限公司 模块化可扩充的换电站设备和充电架
JP2018075672A (ja) * 2016-11-10 2018-05-17 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
JP6585656B2 (ja) * 2017-05-10 2019-10-02 株式会社ソニー・インタラクティブエンタテインメント 製造ライン用コンピュータシステム及びそのネットワーク設定方法
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JP7131131B2 (ja) * 2018-06-29 2022-09-06 マツダ株式会社 車両用ライン検出装置および該方法

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Publication number Priority date Publication date Assignee Title
US8800695B2 (en) * 2006-10-06 2014-08-12 Irobot Corporation Robotic vehicle
CN105643589A (zh) * 2016-03-08 2016-06-08 北京工业大学 一种自主排障式智能车系统
JP2018118341A (ja) * 2017-01-24 2018-08-02 三菱重工エンジン＆ターボチャージャ株式会社 作業ロボット及び生産システム
CN208756849U (zh) * 2018-06-20 2019-04-19 南阳防爆电气研究所有限公司 一种消防灭火侦察防爆机器人
CN209140881U (zh) * 2018-09-12 2019-07-23 珠海心怡科技有限公司 通用型建筑室内工程智能机器人

Also Published As

Publication number Publication date
US20210162591A1 (en) 2021-06-03
CN112873198A (zh) 2021-06-01
JP7392428B2 (ja) 2023-12-06
CN112873198B (zh) 2023-05-23
JP2021084195A (ja) 2021-06-03
EP3827936A1 (en) 2021-06-02
US11633851B2 (en) 2023-04-25
TW202120273A (zh) 2021-06-01
EP3827936B1 (en) 2024-03-27

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