WO2012070572A3 - ロボットの制御装置および制御方法 - Google Patents

ロボットの制御装置および制御方法 Download PDF

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Publication number
WO2012070572A3
WO2012070572A3 PCT/JP2011/076908 JP2011076908W WO2012070572A3 WO 2012070572 A3 WO2012070572 A3 WO 2012070572A3 JP 2011076908 W JP2011076908 W JP 2011076908W WO 2012070572 A3 WO2012070572 A3 WO 2012070572A3
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WO
WIPO (PCT)
Prior art keywords
value
operation control
control values
post
calculated
Prior art date
Application number
PCT/JP2011/076908
Other languages
English (en)
French (fr)
Other versions
WO2012070572A2 (ja
Inventor
龍馬 田頭
Original Assignee
ローツェ株式会社
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 ローツェ株式会社 filed Critical ローツェ株式会社
Priority to CN201180026207.0A priority Critical patent/CN102917843B/zh
Priority to US13/702,147 priority patent/US9199373B2/en
Priority to EP11843879.5A priority patent/EP2644334B1/en
Priority to JP2012545765A priority patent/JP5933450B2/ja
Priority to KR1020127029521A priority patent/KR101871212B1/ko
Publication of WO2012070572A2 publication Critical patent/WO2012070572A2/ja
Publication of WO2012070572A3 publication Critical patent/WO2012070572A3/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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34175—Overlap, between two blocks, continuous, smooth speed change, movement
    • 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
    • G05B2219/40449—Continuous, smooth robot motion

Abstract

所望する移動軌跡の途中で、少なくとも２つの動作を合成した合成移動軌跡に沿ってツールを移動させるに際して、合成移動軌跡を求める演算処理を不要として、ロボット制御の前処理に要する処理時間を飛躍的に短縮させる制御装置および制御方法である。先行動作を実現するための先行動作用制御値を初期値から終端値まで演算しておくとともに、後行動作を実現するための後行動作用制御値を初期値から終端値まで演算する。後行動作用制御値の初期値を、先行動作用制御値の終端値に一致させる条件を付加した上で、ツールが合成移動軌跡に沿って移動する区間におけるアクチュエータの今回の目標制御値を、先行動作用制御値の今回値と前回値との差分値と、後行動作用制御値の今回値と前回値との差分値とを加算した値に基づき演算し、この演算された目標制御値が得られるようにアクチュエータを制御する。
PCT/JP2011/076908 2010-11-26 2011-11-22 ロボットの制御装置および制御方法 WO2012070572A2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CN201180026207.0A CN102917843B (zh) 2010-11-26 2011-11-22 机器人的控制装置及控制方法
US13/702,147 US9199373B2 (en) 2010-11-26 2011-11-22 Robot control device and control method
EP11843879.5A EP2644334B1 (en) 2010-11-26 2011-11-22 Robot control device and control method
JP2012545765A JP5933450B2 (ja) 2010-11-26 2011-11-22 ロボットの制御装置および制御方法
KR1020127029521A KR101871212B1 (ko) 2010-11-26 2011-11-22 로봇의 제어 장치 및 제어 방법

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2010263663 2010-11-26
JP2010-263663 2010-11-26

Publications (2)

Publication Number Publication Date
WO2012070572A2 WO2012070572A2 (ja) 2012-05-31
WO2012070572A3 true WO2012070572A3 (ja) 2012-08-02

Family

ID=46146228

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2011/076908 WO2012070572A2 (ja) 2010-11-26 2011-11-22 ロボットの制御装置および制御方法

Country Status (7)

Country Link
US (1) US9199373B2 (ja)
EP (1) EP2644334B1 (ja)
JP (1) JP5933450B2 (ja)
KR (1) KR101871212B1 (ja)
CN (1) CN102917843B (ja)
TW (1) TWI489234B (ja)
WO (1) WO2012070572A2 (ja)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6023517B2 (ja) * 2012-09-06 2016-11-09 株式会社ダイヘン 算出装置、制御装置、及び算出方法
JP6438189B2 (ja) * 2013-10-01 2018-12-12 川崎重工業株式会社 ロボット及びロボットの制御方法
US10269606B2 (en) * 2014-05-05 2019-04-23 Persimmon Technologies Corporation Two-link arm trajectory
US10515834B2 (en) 2015-10-12 2019-12-24 Lam Research Corporation Multi-station tool with wafer transfer microclimate systems
US11458626B2 (en) * 2018-02-05 2022-10-04 Canon Kabushiki Kaisha Trajectory generating method, and trajectory generating apparatus

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08123531A (ja) * 1994-10-24 1996-05-17 Hitachi Ltd 軌道の制御方法
JPH08328627A (ja) * 1995-06-01 1996-12-13 Sony Corp サーボ制御装置及びサーボ制御方法並びにこれらを用いたロボット制御装置及びロボット制御方法
JP2008302496A (ja) * 2006-07-04 2008-12-18 Panasonic Corp ロボットアームの制御装置及び制御方法、ロボット、及びロボットアームの制御プログラム

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EP0075792B1 (en) * 1981-09-24 1987-08-26 Hitachi, Ltd. Control system for robot hand
GB8626734D0 (en) * 1986-11-08 1986-12-10 Renishaw Plc Coordinate positioning apparatus
JPH04111006A (ja) * 1990-08-30 1992-04-13 Kobe Steel Ltd ロボットの経路補間方法
JP2697399B2 (ja) * 1991-09-13 1998-01-14 三菱電機株式会社 位置決め装置及びそのプログラム表示方法
DE69636230T2 (de) * 1995-09-11 2007-04-12 Kabushiki Kaisha Yaskawa Denki, Kitakyushu Robotersteuerung
WO1997034742A1 (fr) 1996-03-18 1997-09-25 Komatsu Ltd. Dispositif de commande d'un systeme de transport de pieces
US6216058B1 (en) * 1999-05-28 2001-04-10 Brooks Automation, Inc. System of trajectory planning for robotic manipulators based on pre-defined time-optimum trajectory shapes
JPWO2002077729A1 (ja) * 2001-03-27 2004-07-15 株式会社テクノウェイブ 多軸加工機及びそのモータの制御方法
JP4504228B2 (ja) * 2005-03-01 2010-07-14 川崎重工業株式会社 ロボットの制御装置および制御方法
TWI336822B (en) * 2005-03-23 2011-02-01 Hurco Co Inc Method of tolerance-based trajectory planning and control
US20100302526A1 (en) * 2008-11-13 2010-12-02 Nikon Corporation Drive control method for moving body, exposure method, robot control method, drive control apparatus, exposure apparatus and robot apparatus

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08123531A (ja) * 1994-10-24 1996-05-17 Hitachi Ltd 軌道の制御方法
JPH08328627A (ja) * 1995-06-01 1996-12-13 Sony Corp サーボ制御装置及びサーボ制御方法並びにこれらを用いたロボット制御装置及びロボット制御方法
JP2008302496A (ja) * 2006-07-04 2008-12-18 Panasonic Corp ロボットアームの制御装置及び制御方法、ロボット、及びロボットアームの制御プログラム

Also Published As

Publication number Publication date
EP2644334A4 (en) 2018-02-28
KR101871212B1 (ko) 2018-06-27
EP2644334A2 (en) 2013-10-02
TWI489234B (zh) 2015-06-21
JPWO2012070572A1 (ja) 2014-05-19
KR20130122899A (ko) 2013-11-11
US9199373B2 (en) 2015-12-01
CN102917843B (zh) 2016-08-31
CN102917843A (zh) 2013-02-06
WO2012070572A2 (ja) 2012-05-31
EP2644334B1 (en) 2019-02-20
TW201234148A (en) 2012-08-16
US20130085606A1 (en) 2013-04-04
JP5933450B2 (ja) 2016-06-08

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