WO2009034957A1 - ロボットの力制御方法、制御装置およびロボットシステム - Google Patents

ロボットの力制御方法、制御装置およびロボットシステム Download PDF

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Publication number
WO2009034957A1
WO2009034957A1 PCT/JP2008/066202 JP2008066202W WO2009034957A1 WO 2009034957 A1 WO2009034957 A1 WO 2009034957A1 JP 2008066202 W JP2008066202 W JP 2008066202W WO 2009034957 A1 WO2009034957 A1 WO 2009034957A1
Authority
WO
WIPO (PCT)
Prior art keywords
arithmetic operation
operation means
robot
deviation vector
control method
Prior art date
Application number
PCT/JP2008/066202
Other languages
English (en)
French (fr)
Inventor
Shingo Ando
Yasuyuki Inoue
Original Assignee
Kabushiki Kaisha Yaskawa Denki
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 Kabushiki Kaisha Yaskawa Denki filed Critical Kabushiki Kaisha Yaskawa Denki
Priority to EP08830339A priority Critical patent/EP2189253A4/en
Priority to JP2009532180A priority patent/JP5310557B2/ja
Publication of WO2009034957A1 publication Critical patent/WO2009034957A1/ja
Priority to US12/722,535 priority patent/US8380352B2/en

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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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • 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
    • G05B2219/39318—Position loop ann and velocity loop ann and force loop ann
    • 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
    • G05B2219/40032—Peg and hole insertion, mating and joining, remote center compliance
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41371—Force estimation using velocity observer

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

　センサを使用せずに小さな外力であってもロボットマニピュレータを倣わせることができる安定な力制御方法を提供する。 　第１の演算手段（１０１）で手首軸回転倣い動作時のＴＣＰ速度偏差ベクトルＶerrを計算し、第２の演算手段（１０２）でＴＣＰ速度偏差ベクトルＶerrの要素を、符号を含めて選択し、第３の演算手段（１０３）で選択された速度偏差ベクトルを関節速度ωerrに分解し、第４の演算手段（１０４）で関節速度ωerrを積算して位置修正量θaddを計算し、位置修正量θaddをトルク制限付き位置制御手段（１０５ａ～ｆ）にフィードバックする。
PCT/JP2008/066202 2007-09-14 2008-09-09 ロボットの力制御方法、制御装置およびロボットシステム WO2009034957A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP08830339A EP2189253A4 (en) 2007-09-14 2008-09-09 PERFORMANCE CONTROL PROCESS FOR A ROBOT, CONTROL DEVICE AND ROBOT SYSTEM
JP2009532180A JP5310557B2 (ja) 2007-09-14 2008-09-09 ロボットの力制御方法、制御装置およびロボットシステム
US12/722,535 US8380352B2 (en) 2007-09-14 2010-03-12 Robot system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-238914 2007-09-14
JP2007238914 2007-09-14

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/722,535 Continuation US8380352B2 (en) 2007-09-14 2010-03-12 Robot system

Publications (1)

Publication Number Publication Date
WO2009034957A1 true WO2009034957A1 (ja) 2009-03-19

Family

ID=40451964

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/066202 WO2009034957A1 (ja) 2007-09-14 2008-09-09 ロボットの力制御方法、制御装置およびロボットシステム

Country Status (4)

Country Link
US (1) US8380352B2 (ja)
EP (1) EP2189253A4 (ja)
JP (1) JP5310557B2 (ja)
WO (1) WO2009034957A1 (ja)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015131385A (ja) * 2013-12-13 2015-07-23 キヤノン株式会社 ロボット装置、ロボット制御方法、プログラム及び記録媒体
JP2015231663A (ja) * 2014-06-10 2015-12-24 シーメンス アクチエンゲゼルシヤフトＳｉｅｍｅｎｓ Ａｋｔｉｅｎｇｅｓｅｌｌｓｃｈａｆｔ 多数の要素システムを制御調節する装置および方法
CN109159151A (zh) * 2018-10-23 2019-01-08 北京无线电测量研究所 一种机械臂空间轨迹跟踪动态补偿方法和系统
US10668619B2 (en) 2017-06-07 2020-06-02 Fanuc Corporation Controller and machine learning device

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8532825B1 (en) * 2010-08-25 2013-09-10 The Boeing Company Software compensation for kinematically singular machines
JP5946859B2 (ja) * 2014-04-14 2016-07-06 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
CN105382839A (zh) * 2014-08-25 2016-03-09 精工爱普生株式会社 机器人以及机器人系统
US10230200B1 (en) 2016-02-04 2019-03-12 Laura Tomasko Cord retractor

Citations (4)

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JPH04152082A (ja) * 1990-10-12 1992-05-26 Fujitsu Ltd ロボット倣い制御装置
JP2003127079A (ja) * 2001-10-19 2003-05-08 Yaskawa Electric Corp ロボット制御装置
JP2003211376A (ja) * 2002-01-16 2003-07-29 Yaskawa Electric Corp ロボットの制御装置及び制御方法
JP2003216243A (ja) * 2002-01-18 2003-07-31 Yaskawa Electric Corp ロボットの制御装置

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US4675502A (en) * 1985-12-23 1987-06-23 General Electric Company Real time tracking control for taught path robots
JPH0639760A (ja) * 1992-07-23 1994-02-15 Hitachi Ltd ロボットの制御装置
JP2619227B2 (ja) * 1994-11-30 1997-06-11 川崎重工業株式会社 ロボットの制御方法および装置
JPH1142574A (ja) * 1997-07-28 1999-02-16 Matsushita Electric Ind Co Ltd ロボットの制御方法および制御装置
JP4134369B2 (ja) * 1998-02-09 2008-08-20 株式会社安川電機 ロボットの制御装置
JP3473834B2 (ja) * 1999-11-29 2003-12-08 株式会社安川電機 ロボットの制御装置
US7881896B2 (en) * 2002-02-14 2011-02-01 Faro Technologies, Inc. Portable coordinate measurement machine with integrated line laser scanner
US7212886B2 (en) * 2002-12-12 2007-05-01 Kabushiki Kaisha Yaskawa Denki Robot control apparatus and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04152082A (ja) * 1990-10-12 1992-05-26 Fujitsu Ltd ロボット倣い制御装置
JP2003127079A (ja) * 2001-10-19 2003-05-08 Yaskawa Electric Corp ロボット制御装置
JP2003211376A (ja) * 2002-01-16 2003-07-29 Yaskawa Electric Corp ロボットの制御装置及び制御方法
JP2003216243A (ja) * 2002-01-18 2003-07-31 Yaskawa Electric Corp ロボットの制御装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2189253A4 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015131385A (ja) * 2013-12-13 2015-07-23 キヤノン株式会社 ロボット装置、ロボット制御方法、プログラム及び記録媒体
JP2015231663A (ja) * 2014-06-10 2015-12-24 シーメンス アクチエンゲゼルシヤフトＳｉｅｍｅｎｓ Ａｋｔｉｅｎｇｅｓｅｌｌｓｃｈａｆｔ 多数の要素システムを制御調節する装置および方法
US10007280B2 (en) 2014-06-10 2018-06-26 Siemens Aktiengesellschaft Apparatus and method for controlling and regulating a multi-element system
US10668619B2 (en) 2017-06-07 2020-06-02 Fanuc Corporation Controller and machine learning device
CN109159151A (zh) * 2018-10-23 2019-01-08 北京无线电测量研究所 一种机械臂空间轨迹跟踪动态补偿方法和系统
CN109159151B (zh) * 2018-10-23 2021-12-10 北京无线电测量研究所 一种机械臂空间轨迹跟踪动态补偿方法和系统

Also Published As

Publication number Publication date
US8380352B2 (en) 2013-02-19
JP5310557B2 (ja) 2013-10-09
EP2189253A4 (en) 2011-08-10
EP2189253A1 (en) 2010-05-26
US20110087374A1 (en) 2011-04-14
JPWO2009034957A1 (ja) 2010-12-24

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