WO2009069653A1 - ロボットの動作経路作成装置及びロボットの動作経路作成方法 - Google Patents

ロボットの動作経路作成装置及びロボットの動作経路作成方法 Download PDF

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Publication number
WO2009069653A1
WO2009069653A1 PCT/JP2008/071442 JP2008071442W WO2009069653A1 WO 2009069653 A1 WO2009069653 A1 WO 2009069653A1 JP 2008071442 W JP2008071442 W JP 2008071442W WO 2009069653 A1 WO2009069653 A1 WO 2009069653A1
Authority
WO
WIPO (PCT)
Prior art keywords
motion path
robot
joints
robot motion
creating
Prior art date
Application number
PCT/JP2008/071442
Other languages
English (en)
French (fr)
Inventor
Shintaro Yoshizawa
Yutaka Hirano
Original Assignee
Toyota Jidosha Kabushiki Kaisha
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 Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Publication of WO2009069653A1 publication Critical patent/WO2009069653A1/ja

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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
    • B25J9/1656—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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39414—7-DOF
    • 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
    • G05B2219/40354—Singularity detection
    • 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
    • G05B2219/40367—Redundant manipulator

Landscapes

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

Abstract

　本発明は、７個以上の関節を持つロボットにおいて、特異姿勢を回避した動作経路を高効率に作成するロボットの動作経路作成装置及び動作経路作成方法を提供することを課題とする。本発明は、７個以上の関節を持つロボットの動作経路を作成するロボットの動作経路作成装置（１）であって、ロボットの特定部位の位置及び姿勢を定義する経由点を設定する経由点設定手段（３）と、経由点に対する関節ベクトルの候補を生成する際に使用する関節の数を６個以下で設定する関節数設定手段（３，５）と、経由点毎に、ロボットの特定部位が経由点の位置及び姿勢となるための設定した数分の各関節の関節角度を計算し、当該各関節の関節角度からなる関節ベクトルの候補を複数生成する関節ベクトル候補生成手段（６）と、経由点毎の複数の関節ベクトルの候補の中からロボットが特異姿勢にならない各経由点の関節ベクトルの候補の組み合わせを選択する選択手段（７）とを備えることを特徴とする。
PCT/JP2008/071442 2007-11-28 2008-11-26 ロボットの動作経路作成装置及びロボットの動作経路作成方法 WO2009069653A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-307752 2007-11-28
JP2007307752A JP2009134352A (ja) 2007-11-28 2007-11-28 ロボットの動作経路作成装置及びロボットの動作経路作成方法

Publications (1)

Publication Number Publication Date
WO2009069653A1 true WO2009069653A1 (ja) 2009-06-04

Family

ID=40678547

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/071442 WO2009069653A1 (ja) 2007-11-28 2008-11-26 ロボットの動作経路作成装置及びロボットの動作経路作成方法

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JP (1) JP2009134352A (ja)
WO (1) WO2009069653A1 (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105082134A (zh) * 2015-08-06 2015-11-25 珞石（北京）科技有限公司 一种基于多判据的六自由度串联机器人奇异性处理方法
CN112975951A (zh) * 2019-12-13 2021-06-18 医达科技公司 用于具有障碍物规避的机器人路径规划的快速方法

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013244560A (ja) * 2012-05-25 2013-12-09 Dainippon Screen Mfg Co Ltd 把持機構の軌道生成装置、把持機構の軌道生成方法、把持機構の軌道生成プログラム、記録媒体、ロボットプログラム作成装置
US9327401B2 (en) * 2012-09-10 2016-05-03 Fanuc America Corporation Method of controlling a redundant robot
JP6418483B2 (ja) * 2014-06-18 2018-11-07 株式会社Ihi 加工軌道生成装置と方法
JP2016016474A (ja) * 2014-07-08 2016-02-01 株式会社ダイヘン ロボット制御装置
JP2021062436A (ja) * 2019-10-11 2021-04-22 セイコーエプソン株式会社 教示方法
CN113305881B (zh) * 2021-05-14 2022-07-12 北京配天技术有限公司 机器人运动规划阶段的奇异区域检测方法
JP7528028B2 (ja) * 2021-06-14 2024-08-05 キヤノン株式会社 情報処理装置、情報処理方法、ロボットシステム、物品の製造方法、プログラム及び記録媒体
DE112021007579T5 (de) * 2021-07-02 2024-02-29 Fanuc Corporation Optimierungsassistenzvorrichtung

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0445313B2 (ja) * 1987-07-11 1992-07-24 Kogyo Gijutsuin
JP2005193311A (ja) * 2003-12-26 2005-07-21 Japan Aerospace Exploration Agency 冗長マニピュレータの制御方法
JP2007203380A (ja) * 2006-01-30 2007-08-16 Kawasaki Heavy Ind Ltd ロボットの教示支援装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0445313B2 (ja) * 1987-07-11 1992-07-24 Kogyo Gijutsuin
JP2005193311A (ja) * 2003-12-26 2005-07-21 Japan Aerospace Exploration Agency 冗長マニピュレータの制御方法
JP2007203380A (ja) * 2006-01-30 2007-08-16 Kawasaki Heavy Ind Ltd ロボットの教示支援装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105082134A (zh) * 2015-08-06 2015-11-25 珞石（北京）科技有限公司 一种基于多判据的六自由度串联机器人奇异性处理方法
CN112975951A (zh) * 2019-12-13 2021-06-18 医达科技公司 用于具有障碍物规避的机器人路径规划的快速方法
US11919170B2 (en) 2019-12-13 2024-03-05 Edda Technology, Inc. Fast method for robot path planning with obstacle avoidance

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Publication number Publication date
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