WO2002065825A3 - Robot et procede de commande du fonctionnement dudit robot - Google Patents

Robot et procede de commande du fonctionnement dudit robot Download PDF

Info

Publication number
WO2002065825A3
WO2002065825A3 PCT/IB2002/000544 IB0200544W WO02065825A3 WO 2002065825 A3 WO2002065825 A3 WO 2002065825A3 IB 0200544 W IB0200544 W IB 0200544W WO 02065825 A3 WO02065825 A3 WO 02065825A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot device
actuator
cpu
external force
information
Prior art date
Application number
PCT/IB2002/000544
Other languages
English (en)
French (fr)
Other versions
WO2002065825B1 (fr
WO2002065825A2 (fr
Inventor
Jun Yokono
Masahiro Fujita
Vincent Hugel
Original Assignee
Sony Corp
Jun Yokono
Masahiro Fujita
Vincent Hugel
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
Priority claimed from JP2001045693A external-priority patent/JP2002239963A/ja
Priority claimed from JP2001055669A external-priority patent/JP2002254375A/ja
Application filed by Sony Corp, Jun Yokono, Masahiro Fujita, Vincent Hugel filed Critical Sony Corp
Priority to KR1020027014119A priority Critical patent/KR100864340B1/ko
Priority to EP02703771A priority patent/EP1386699A4/en
Priority to US10/258,152 priority patent/US6865446B2/en
Publication of WO2002065825A2 publication Critical patent/WO2002065825A2/ja
Publication of WO2002065825A3 publication Critical patent/WO2002065825A3/ja
Publication of WO2002065825B1 publication Critical patent/WO2002065825B1/ja

Links

Classifications

    • 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
PCT/IB2002/000544 2001-02-21 2002-02-21 Robot et procede de commande du fonctionnement dudit robot WO2002065825A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1020027014119A KR100864340B1 (ko) 2001-02-21 2002-02-21 로봇 장치 및 로봇 장치의 동작 제어 방법
EP02703771A EP1386699A4 (en) 2001-02-21 2002-02-21 ROBOT DEVICE AND METHOD FOR CONTROLLING THE OPERATION OF THE ROBOT DEVICE
US10/258,152 US6865446B2 (en) 2001-02-21 2002-02-21 Robot device and method of controlling robot device operation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001045693A JP2002239963A (ja) 2001-02-21 2001-02-21 ロボット装置、ロボット装置の動作制御方法、プログラム及び記録媒体
JP2001055669A JP2002254375A (ja) 2001-02-28 2001-02-28 ロボット装置及びその制御方法並びに障害物検出装置及び方法

Publications (3)

Publication Number Publication Date
WO2002065825A2 WO2002065825A2 (fr) 2002-08-29
WO2002065825A3 true WO2002065825A3 (fr) 2002-11-07
WO2002065825B1 WO2002065825B1 (fr) 2003-03-06

Family

ID=26609848

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2002/000544 WO2002065825A2 (fr) 2001-02-21 2002-02-21 Robot et procede de commande du fonctionnement dudit robot

Country Status (4)

Country Link
EP (1) EP1386699A4 (ja)
KR (1) KR100864340B1 (ja)
CN (1) CN100445047C (ja)
WO (1) WO2002065825A2 (ja)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7873448B2 (en) 2002-12-10 2011-01-18 Honda Motor Co., Ltd. Robot navigation system avoiding obstacles and setting areas as movable according to circular distance from points on surface of obstacles
KR101028814B1 (ko) * 2007-02-08 2011-04-12 삼성전자주식회사 소프트웨어 로봇 장치와 그 장치에서 소프트웨어 로봇의행동 발현 방법
KR101487782B1 (ko) * 2008-12-22 2015-01-29 삼성전자 주식회사 로봇 및 그 균형 제어방법
KR101487783B1 (ko) * 2008-12-22 2015-01-29 삼성전자 주식회사 로봇 및 그 제어방법
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
JP5893666B2 (ja) * 2014-04-14 2016-03-23 ファナック株式会社 力に応じて動かすロボットのロボット制御装置およびロボットシステム
JP6034895B2 (ja) 2015-02-20 2016-11-30 ファナック株式会社 外力に応じてロボットを退避動作させる人間協調ロボットシステム
JP6034900B2 (ja) 2015-03-06 2016-11-30 ファナック株式会社 動作プログラムの再開を判断するロボット制御装置
CN114514091A (zh) 2019-10-23 2022-05-17 Abb瑞士股份有限公司 机器人控制方法和装置
CN111037564B (zh) * 2019-12-27 2022-03-18 深圳市越疆科技有限公司 机器人碰撞检测方法、装置、设备及计算机可读存储介质
CN114714350B (zh) * 2022-03-31 2024-03-26 北京云迹科技股份有限公司 服务机器人的控制方法、装置、设备及介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0448590B2 (ja) * 1987-03-27 1992-08-07 Sutaa Seiki Kk
JPH1142576A (ja) * 1997-07-28 1999-02-16 Matsushita Electric Ind Co Ltd ロボットの制御方法および装置
WO2000040377A1 (fr) * 1999-01-07 2000-07-13 Sony Corporation Appareil de type machine, procede d'actionnement de celui-ci et support enregistre
EP1070571A1 (en) * 1999-02-10 2001-01-24 Sony Corporation Device and method for controlling joint mechanism, joint device, robot device, and method for controlling robot device
JP2001025984A (ja) * 1999-05-10 2001-01-30 Sony Corp ロボット装置及びその制御方法並びに記録媒体
JP6092076B2 (ja) * 2013-11-15 2017-03-08 株式会社東芝 汚染飛灰の処理方法及び処理システム

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0692076B2 (ja) * 1989-11-22 1994-11-16 工業技術院長 歩行脚運動制御装置
JP4048590B2 (ja) * 1998-03-11 2008-02-20 セイコーエプソン株式会社 プラスチックレンズの製造方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0448590B2 (ja) * 1987-03-27 1992-08-07 Sutaa Seiki Kk
JPH1142576A (ja) * 1997-07-28 1999-02-16 Matsushita Electric Ind Co Ltd ロボットの制御方法および装置
WO2000040377A1 (fr) * 1999-01-07 2000-07-13 Sony Corporation Appareil de type machine, procede d'actionnement de celui-ci et support enregistre
EP1070571A1 (en) * 1999-02-10 2001-01-24 Sony Corporation Device and method for controlling joint mechanism, joint device, robot device, and method for controlling robot device
JP2001025984A (ja) * 1999-05-10 2001-01-30 Sony Corp ロボット装置及びその制御方法並びに記録媒体
JP6092076B2 (ja) * 2013-11-15 2017-03-08 株式会社東芝 汚染飛灰の処理方法及び処理システム

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP1386699A4 *

Also Published As

Publication number Publication date
EP1386699A2 (en) 2004-02-04
EP1386699A4 (en) 2006-04-19
KR100864340B1 (ko) 2008-10-17
WO2002065825B1 (fr) 2003-03-06
WO2002065825A2 (fr) 2002-08-29
KR20030007543A (ko) 2003-01-23
CN1460052A (zh) 2003-12-03
CN100445047C (zh) 2008-12-24

Similar Documents

Publication Publication Date Title
MXPA05005287A (es) Aparato para simular fuerzas de tension en una pieza de trabajo.
WO2002065825A3 (fr) Robot et procede de commande du fonctionnement dudit robot
WO2003012557A3 (en) Control wheel with haptic feedback
TWI263605B (en) Vehicle steering control apparatus
AU2002337591A1 (en) System and method for controlling a device in vivo
WO2006132943A3 (en) Method and apparatus for controlling a component by feed-forward closed-loop controller state modification
KR950000447A (ko) 최소 펄스폭에 의해 차량변속기를 제어하는 방법 및 장치
WO2008126656A1 (ja) 線状体の駆動装置
WO2008018935A3 (en) Ultrasonic press using servo motor with integrated linear actuator
WO2009034962A1 (ja) パワーアシスト装置およびその制御方法
AU2001239078A1 (en) Control device for the therapeutic mobilization of joints
EP1258790A3 (en) Method and apparatus for controlling motor
EP1707364A3 (en) Ink-jet recording apparatus
WO2007030365A3 (en) Velocity feedforward compensation for force control systems
JP2006263167A5 (ja)
EP1184804A3 (de) System zur Bildwiedergabe
DE50000402D1 (de) Drehmomentschlüssel
EP1291844A3 (en) Audio signal processor
WO2004113206A3 (en) Web tensioning device with plural control inputs
WO2003083802A3 (fr) Procede de commande et de controle du fonctionnement d'un actionneur
WO2002097290A3 (de) Verfahren zum einstellen des greifpunktes einer von einem kupplungsaktor betätigten kupplung sowie steuersystem
EP1372128A3 (en) Apparatus and method of force feedback input for flight simulator
JP4531525B2 (ja) トリガースイッチ
EP1450231A3 (en) Force-applying input device
ATE480434T1 (de) Hydrauliksystem

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): CN KR US

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR

WWE Wipo information: entry into national phase

Ref document number: 2002703771

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 1020027014119

Country of ref document: KR

121 Ep: the epo has been informed by wipo that ep was designated in this application
AK Designated states

Kind code of ref document: A3

Designated state(s): CN KR US

AL Designated countries for regional patents

Kind code of ref document: A3

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR

WWE Wipo information: entry into national phase

Ref document number: 028010337

Country of ref document: CN

WWP Wipo information: published in national office

Ref document number: 1020027014119

Country of ref document: KR

AK Designated states

Kind code of ref document: B1

Designated state(s): CN KR US

AL Designated countries for regional patents

Kind code of ref document: B1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR

B Later publication of amended claims
WWE Wipo information: entry into national phase

Ref document number: 10258152

Country of ref document: US

WWP Wipo information: published in national office

Ref document number: 2002703771

Country of ref document: EP