WO2008001713A1 - Robot articulé et son programme de commande - Google Patents
Robot articulé et son programme de commande Download PDFInfo
- Publication number
- WO2008001713A1 WO2008001713A1 PCT/JP2007/062675 JP2007062675W WO2008001713A1 WO 2008001713 A1 WO2008001713 A1 WO 2008001713A1 JP 2007062675 W JP2007062675 W JP 2007062675W WO 2008001713 A1 WO2008001713 A1 WO 2008001713A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- joint
- load
- target
- overloaded
- state vector
- Prior art date
Links
- 239000013598 vector Substances 0.000 claims abstract description 173
- 238000004364 calculation method Methods 0.000 claims description 38
- 230000007246 mechanism Effects 0.000 claims description 33
- 238000004590 computer program Methods 0.000 claims description 10
- 239000000284 extract Substances 0.000 abstract description 6
- 239000012636 effector Substances 0.000 description 25
- 238000006243 chemical reaction Methods 0.000 description 24
- 239000011159 matrix material Substances 0.000 description 24
- 230000009466 transformation Effects 0.000 description 16
- 238000000605 extraction Methods 0.000 description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 12
- 238000000034 method Methods 0.000 description 11
- 238000000354 decomposition reaction Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 9
- 230000001133 acceleration Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
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
- B25J9/1628—Programme controls characterised by the control loop
-
- 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
- G05B2219/37342—Overload of motor, tool
-
- 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
- G05B2219/40461—Plan for even distribution of motor load of joints
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP07767482.8A EP2033746A4 (en) | 2006-06-26 | 2007-06-25 | JOINT ROBOTS AND CONTROL PROGRAM THEREFOR |
US12/303,649 US8112179B2 (en) | 2006-06-26 | 2007-06-25 | Multi-joint robot and control program thereof |
CN2007800238681A CN101479081B (zh) | 2006-06-26 | 2007-06-25 | 多关节机器人及其控制程序 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006-175063 | 2006-06-26 | ||
JP2006175063A JP4508164B2 (ja) | 2006-06-26 | 2006-06-26 | 多関節ロボット及びその制御プログラム |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2008001713A1 true WO2008001713A1 (fr) | 2008-01-03 |
Family
ID=38845477
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2007/062675 WO2008001713A1 (fr) | 2006-06-26 | 2007-06-25 | Robot articulé et son programme de commande |
Country Status (5)
Country | Link |
---|---|
US (1) | US8112179B2 (ja) |
EP (1) | EP2033746A4 (ja) |
JP (1) | JP4508164B2 (ja) |
CN (1) | CN101479081B (ja) |
WO (1) | WO2008001713A1 (ja) |
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CN101396830A (zh) * | 2007-09-29 | 2009-04-01 | 株式会社Ihi | 机器人装置的控制方法以及机器人装置 |
JP2009220184A (ja) * | 2008-03-13 | 2009-10-01 | Nachi Fujikoshi Corp | 産業用ロボットの出力トルク制限回路 |
JP4715863B2 (ja) * | 2008-05-01 | 2011-07-06 | ソニー株式会社 | アクチュエータ制御装置及びアクチュエータ制御方法、アクチュエータ、ロボット装置、並びにコンピュータ・プログラム |
CN101737603B (zh) * | 2008-11-10 | 2011-11-30 | 鸿富锦精密工业(深圳)有限公司 | 万向关节 |
US8170718B2 (en) * | 2008-12-18 | 2012-05-01 | GM Global Technology Operations LLC | Multiple priority operational space impedance control |
WO2011056633A1 (en) * | 2009-10-27 | 2011-05-12 | Battelle Memorial Institute | Semi-autonomous multi-use robot system and method of operation |
JP4896276B2 (ja) * | 2010-01-04 | 2012-03-14 | パナソニック株式会社 | ロボット、ロボットの制御装置、制御方法、及び制御プログラム |
KR101953113B1 (ko) * | 2011-05-30 | 2019-03-05 | 삼성전자주식회사 | 로봇 및 그 제어방법 |
JP5966372B2 (ja) | 2012-01-17 | 2016-08-10 | セイコーエプソン株式会社 | 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ロボット |
JP5962020B2 (ja) * | 2012-01-17 | 2016-08-03 | セイコーエプソン株式会社 | ロボット制御装置、ロボットシステム、ロボット及びロボット制御方法 |
US10383765B2 (en) | 2012-04-24 | 2019-08-20 | Auris Health, Inc. | Apparatus and method for a global coordinate system for use in robotic surgery |
US9796082B2 (en) * | 2013-05-24 | 2017-10-24 | Carnegie Mellon University, CTTEC | Series elastic actuators for robots and robotic devices |
DE102013016019B3 (de) * | 2013-09-25 | 2015-03-19 | Festo Ag & Co. Kg | Verfahren zum Betreiben eines mehrgliedrigen Manipulators |
US9259844B2 (en) * | 2014-02-12 | 2016-02-16 | General Electric Company | Vision-guided electromagnetic robotic system |
JP5941083B2 (ja) * | 2014-03-12 | 2016-06-29 | ファナック株式会社 | 外部環境との接触を検知するロボット制御装置 |
US9346165B1 (en) * | 2014-06-02 | 2016-05-24 | Google Inc. | Robotic devices with multi-degree of freedom (DOF) load cell for shear beam sensing |
US10499999B2 (en) | 2014-10-09 | 2019-12-10 | Auris Health, Inc. | Systems and methods for aligning an elongate member with an access site |
CN104626171A (zh) * | 2015-01-07 | 2015-05-20 | 北京卫星环境工程研究所 | 基于六维力传感器的机械臂碰撞检测与响应方法 |
US10201901B2 (en) * | 2015-01-29 | 2019-02-12 | Canon Kabushiki Kaisha | Robot apparatus, method for controlling robot, program, and recording medium |
KR101743225B1 (ko) * | 2015-12-30 | 2017-06-15 | 국방과학연구소 | 다축 구동계의 무게중심 측정 방법 및 장치 |
US20170259433A1 (en) * | 2016-03-11 | 2017-09-14 | Seiko Epson Corporation | Robot control device, information processing device, and robot system |
JPWO2018079772A1 (ja) * | 2016-10-31 | 2019-10-03 | ライフロボティクス株式会社 | ロボットアーム機構 |
US10821614B2 (en) | 2016-11-11 | 2020-11-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
EP3644886A4 (en) | 2017-06-28 | 2021-03-24 | Auris Health, Inc. | ELECTROMAGNETIC DISTORTION DETECTION |
WO2019005699A1 (en) | 2017-06-28 | 2019-01-03 | Auris Health, Inc. | ELECTROMAGNETIC FIELD GENERATOR ALIGNMENT |
US10464209B2 (en) | 2017-10-05 | 2019-11-05 | Auris Health, Inc. | Robotic system with indication of boundary for robotic arm |
US10016900B1 (en) * | 2017-10-10 | 2018-07-10 | Auris Health, Inc. | Surgical robotic arm admittance control |
JP7001439B2 (ja) * | 2017-11-24 | 2022-01-19 | 川崎重工業株式会社 | 監視方法 |
JP7028092B2 (ja) * | 2018-07-13 | 2022-03-02 | オムロン株式会社 | 把持姿勢評価装置及び把持姿勢評価プログラム |
WO2020017370A1 (ja) * | 2018-07-17 | 2020-01-23 | ソニー株式会社 | 制御装置、制御方法、及び制御システム |
US11034026B2 (en) * | 2019-01-10 | 2021-06-15 | General Electric Company | Utilizing optical data to dynamically control operation of a snake-arm robot |
EP3689554A1 (de) * | 2019-01-30 | 2020-08-05 | Siemens Aktiengesellschaft | Schonung eines robotergelenks durch eine geänderte bahntrajektorie |
CN113891786A (zh) * | 2019-04-17 | 2022-01-04 | 优傲机器人公司 | 基于自适应摩擦来控制机器人臂的方法 |
EP4025921A4 (en) | 2019-09-03 | 2023-09-06 | Auris Health, Inc. | ELECTROMAGNETIC DISTORTION DETECTION AND COMPENSATION |
CN110928236B (zh) * | 2019-11-21 | 2021-07-27 | 珠海格力智能装备有限公司 | 机器人受力数据的检测方法、装置及系统 |
DE102019131400B4 (de) * | 2019-11-21 | 2022-03-10 | Franka Emika Gmbh | Kraftmessung und Krafterzeugung in redundanten Robotermanipulatoren |
CN111687832B (zh) * | 2020-04-30 | 2023-06-02 | 广西科技大学 | 空间机械手冗余机械臂逆优先级阻抗控制系统及控制方法 |
CN111687835B (zh) * | 2020-04-30 | 2023-06-02 | 广西科技大学 | 水下机械手冗余机械臂逆优先级阻抗控制系统及控制方法 |
CN111687834B (zh) * | 2020-04-30 | 2023-06-02 | 广西科技大学 | 移动机械手冗余机械臂逆优先级阻抗控制系统及控制方法 |
CN111687833B (zh) * | 2020-04-30 | 2023-06-02 | 广西科技大学 | 机械手逆优先级阻抗控制系统及控制方法 |
US11833676B2 (en) | 2020-12-07 | 2023-12-05 | Sarcos Corp. | Combining sensor output data to prevent unsafe operation of an exoskeleton |
CN114310063B (zh) * | 2022-01-28 | 2023-06-06 | 长春职业技术学院 | 一种基于六轴机器人的焊接优化方法 |
US11826907B1 (en) * | 2022-08-17 | 2023-11-28 | Sarcos Corp. | Robotic joint system with length adapter |
WO2024053079A1 (ja) * | 2022-09-09 | 2024-03-14 | ファナック株式会社 | ロボットシステム、ロボットの診断装置、診断方法および診断プログラム |
US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
Citations (5)
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JPH03178788A (ja) * | 1989-12-06 | 1991-08-02 | Hitachi Ltd | マニピュレータの制御方法 |
JP2003082701A (ja) * | 2001-09-10 | 2003-03-19 | Hitachi Constr Mach Co Ltd | 多関節アーム作業機の軌跡逸脱防止装置 |
JP2005144644A (ja) * | 2003-11-19 | 2005-06-09 | Yaskawa Electric Corp | 自動機械の動作範囲制限方法 |
JP2005161469A (ja) | 2003-12-03 | 2005-06-23 | Sony Corp | ロボット装置及びロボット装置のための過電流保護装置 |
JP2006175063A (ja) | 2004-12-22 | 2006-07-06 | Noru Corporation:Kk | 装飾部材を緩嵌合可能とされる装飾具及び装飾具用装飾部材 |
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US4864206A (en) * | 1986-11-20 | 1989-09-05 | Westinghouse Electric Corp. | Multiaxis robot control having improved energy monitoring system for protecting robots against joint motor overload |
US4807153A (en) * | 1986-11-20 | 1989-02-21 | Unimation Inc. | Multiaxis digital robot control having a backup velocity monitor and protection system |
JP2713899B2 (ja) | 1987-03-30 | 1998-02-16 | 株式会社日立製作所 | ロボツト装置 |
IL120889A (en) * | 1997-05-22 | 1998-10-30 | Eshed Robotec 1982 Ltd | Method and facility for direct learning of vending machines |
JPH11277468A (ja) * | 1998-03-30 | 1999-10-12 | Denso Corp | ロボットの制御装置 |
CN1649698A (zh) * | 2002-03-18 | 2005-08-03 | 索尼株式会社 | 机器人设备、腿式移动机器人的运动控制设备和方法、腿式移动机器人的传感器系统和移动单元 |
KR100483660B1 (ko) * | 2002-04-12 | 2005-04-19 | 미쓰비시덴키 가부시키가이샤 | 로봇 |
JP4592276B2 (ja) * | 2003-10-24 | 2010-12-01 | ソニー株式会社 | ロボット装置のためのモーション編集装置及びモーション編集方法、並びにコンピュータ・プログラム |
JP2006102920A (ja) * | 2004-10-08 | 2006-04-20 | Fanuc Ltd | 把握型ハンド |
-
2006
- 2006-06-26 JP JP2006175063A patent/JP4508164B2/ja not_active Expired - Fee Related
-
2007
- 2007-06-25 CN CN2007800238681A patent/CN101479081B/zh not_active Expired - Fee Related
- 2007-06-25 WO PCT/JP2007/062675 patent/WO2008001713A1/ja active Application Filing
- 2007-06-25 US US12/303,649 patent/US8112179B2/en not_active Expired - Fee Related
- 2007-06-25 EP EP07767482.8A patent/EP2033746A4/en not_active Withdrawn
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03178788A (ja) * | 1989-12-06 | 1991-08-02 | Hitachi Ltd | マニピュレータの制御方法 |
JP2003082701A (ja) * | 2001-09-10 | 2003-03-19 | Hitachi Constr Mach Co Ltd | 多関節アーム作業機の軌跡逸脱防止装置 |
JP2005144644A (ja) * | 2003-11-19 | 2005-06-09 | Yaskawa Electric Corp | 自動機械の動作範囲制限方法 |
JP2005161469A (ja) | 2003-12-03 | 2005-06-23 | Sony Corp | ロボット装置及びロボット装置のための過電流保護装置 |
JP2006175063A (ja) | 2004-12-22 | 2006-07-06 | Noru Corporation:Kk | 装飾部材を緩嵌合可能とされる装飾具及び装飾具用装飾部材 |
Non-Patent Citations (1)
Title |
---|
See also references of EP2033746A4 |
Also Published As
Publication number | Publication date |
---|---|
US20100234999A1 (en) | 2010-09-16 |
CN101479081A (zh) | 2009-07-08 |
US8112179B2 (en) | 2012-02-07 |
CN101479081B (zh) | 2011-06-15 |
JP2008000861A (ja) | 2008-01-10 |
JP4508164B2 (ja) | 2010-07-21 |
EP2033746A4 (en) | 2013-08-14 |
EP2033746A1 (en) | 2009-03-11 |
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