WO2021130929A1 - ロボット、システム、方法及びプログラム - Google Patents

ロボット、システム、方法及びプログラム Download PDF

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Publication number
WO2021130929A1
WO2021130929A1 PCT/JP2019/050969 JP2019050969W WO2021130929A1 WO 2021130929 A1 WO2021130929 A1 WO 2021130929A1 JP 2019050969 W JP2019050969 W JP 2019050969W WO 2021130929 A1 WO2021130929 A1 WO 2021130929A1
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WO
WIPO (PCT)
Prior art keywords
robot
unit
control
setting
setting information
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2019/050969
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English (en)
French (fr)
Japanese (ja)
Inventor
雄希 松尾
義弘 坂本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tokyo Robotics Inc
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Tokyo Robotics Inc
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Publication date
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Priority to PCT/JP2019/050969 priority Critical patent/WO2021130929A1/ja
Priority to JP2021566660A priority patent/JP7493816B2/ja
Publication of WO2021130929A1 publication Critical patent/WO2021130929A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators

Definitions

  • the present invention relates to, for example, robots, especially force-controlled robots.
  • Patent Document 1 In recent years, technology for force control of robot behavior has become widespread, and in particular, robots using impedance control have become widespread (for example, Patent Document 1). According to the impedance control, it is possible to perform smooth force control based on inertia, viscosity and rigidity based on the external force, so that it is possible to realize an operation that is familiar with the external force. Therefore, by applying it to a robot, it is possible to absorb errors generated by position control and improve safety in a human coexistence environment.
  • a robot can move in a factory or the like to operate an object, so that the automation of the factory can be further promoted.
  • a mobile manipulator is composed of a manipulator and a mobile trolley.
  • force control may be adopted from the viewpoint of absorption of position error due to copying operation and safety.
  • the moving trolley may move unexpectedly due to the reaction force during the gripping operation of the object by the manipulator. ..
  • the robot's functions such as gripping an object are lost, and safety cannot be ensured due to the possibility of collision with the environment.
  • unexpected joints may move or expected joints if an appropriate control method is not set. May not work. In this case, not only the proper teaching cannot be performed and the functionality is lost, but also the safety of the teacher cannot be ensured.
  • the moving parts that should be force controlled may differ depending on the task.
  • the mobile manipulator is moving, it is preferable to control the force of the moving part from the viewpoint of safety in the event of a collision.
  • the present invention has been made to solve the above-mentioned technical problems, and an object of the present invention is to appropriately control force of a robot having a plurality of moving parts according to its use, task, and the like. By applying it, it is to provide a highly safe robot.
  • the robot according to the present invention is a robot including a plurality of motion units, and is a setting information storage unit that stores setting information including information about the motion unit controlled by force control among the motion units.
  • a setting unit is provided, which makes a setting for force control of the corresponding operation unit based on the setting information.
  • a predetermined operation unit may be used for force control according to the application or task of the robot. It is possible to prevent an unexpected part from operating or not operating by force control. That is, this can enhance the safety of the robot.
  • the operating unit may be an individual operating component unit such as an actuator, or may be a group of operating units including a plurality of operating units that form some unit such as a predetermined function.
  • the setting information may further include information about the moving unit to be fixed.
  • the control for fixing the moving unit may be realized by position control.
  • the setting information may be set for each translation axis and / or rotation axis set for the robot.
  • one moving unit may be set as an operating unit controlled by force control.
  • the input receiving unit may further include a batch setting unit that collectively sets a plurality of the translational axes and / or rotation axes.
  • the batch setting may be performed for each operation group constituting a predetermined function.
  • the input receiving unit may further include a parameter input receiving unit that receives an input related to a control parameter of force control for each of the translation axis and / or the rotation axis.
  • the force control is impedance control, and the control parameters may be impedance parameters indicating inertia, viscosity, and rigidity.
  • the impedance control controls the response characteristic to an external force, and is a so-called impedance control in a broad sense. Therefore, for example, it includes impedance control in a narrow sense that outputs a force with a position as an input, and admittance control that outputs a position with a force as an input.
  • the setting information storage unit further includes a task setting information storage unit that stores the setting information for each task performed by the robot, and the setting unit further includes setting information for each task according to the task. It may be provided with an automatic setting unit that reads and sets the information.
  • the moving unit includes a moving moving unit used for moving the robot, an arm operating unit provided on the arm of the robot, and an ascending / descending operating unit used for raising / lowering the arm. Good.
  • the present invention can also be thought of as a system. That is, the system according to the present invention is a robot system including a plurality of operation units, and stores setting information including information about the operation unit controlled by force control among the operation units. And, based on the setting information, the setting unit that sets the corresponding operation unit to control the force is provided.
  • the present invention can also be considered as a method. That is, the method according to the present invention is a control method for a robot including a plurality of moving parts, and stores setting information including information about the moving part controlled by force control among the moving parts. It includes a storage step and a setting step that sets the corresponding operation unit as force control based on the setting information.
  • the present invention can also be thought of as a computer program. That is, the computer program according to the present invention is a control program for a robot having a plurality of moving parts, and stores setting information including information about the moving parts controlled by force control among the moving parts. It includes an information storage step and a setting step that sets the corresponding operation unit as force control based on the setting information.
  • FIG. 1 is an external view of the robot.
  • FIG. 2 is a hardware block diagram relating to the control system of the robot.
  • FIG. 3 is a functional block diagram relating to impedance control.
  • FIG. 4 is a general flowchart relating to the procedure of direct teaching.
  • FIG. 5 is a detailed flowchart of the setting process related to impedance control.
  • FIG. 6 is a detailed flowchart regarding the simple setting mode processing.
  • FIG. 7 is an explanatory diagram (No. 1) showing a display example of the reception screen.
  • FIG. 8 is a conceptual diagram of an impedance control table.
  • FIG. 9 is a detailed flowchart regarding the detailed setting mode processing.
  • FIG. 10 is an explanatory diagram (No. 2) of a display example of the reception screen.
  • FIG. 11 is a detailed flowchart of the operation of the robot in which the direct teaching is performed.
  • FIG. 12 is an explanatory diagram of a robot task in the factory.
  • FIG. 13 is a table showing the correspondence between the task and the impedance table.
  • FIG. 14 is a conceptual diagram of tables 1 and 3.
  • FIG. 15 is a conceptual diagram of the table 2.
  • FIG. 16 is a general flowchart regarding the operation of the robot.
  • FIG. 17 is a detailed flowchart of the execution process of picking up the parts.
  • FIG. 18 is a detailed flowchart regarding the execution process of the movement task.
  • FIG. 19 is a detailed flowchart relating to the execution process of the component mounting task.
  • FIG. 1 is an external view of the robot 100 according to the present embodiment.
  • the robot 100 has an elevating motion unit 11 extending vertically upward from the bogie portion 15 provided at the bottom thereof, and a robot head 18 is provided on the top surface of the elevating motion section 11 to ascend and descend.
  • a robot arm 8 is provided on the front surface of the moving unit 11 so as to be able to move up and down.
  • the bogie unit 15 includes a plurality of operating units (not shown) and is configured to be movable in all directions on a two-dimensional plane (XY plane). Further, it is configured to be rotatable around the vertically upward axis Rz.
  • the elevating and lowering operation unit 11 includes a slide operation unit that moves up and down in the vertical (Z-axis) direction.
  • the base of the robot arm 8 is connected to the front surface of the slide operation portion, and the robot arm 8 is configured to be slidable in the vertical vertical direction.
  • the robot head 18 is provided with a pair of cameras 181 at parts corresponding to the left and right eyes of the robot 100, and the neck is configured to be rotatable around a vertical axis and a horizontal axis.
  • the camera 181 can acquire images related to the environment, objects, hand positions, and the like.
  • the robot arm 8 is configured by connecting a plurality of joint units equipped with actuators inside, and is a robot arm 8 with 7 joints (7 degrees of freedom). Further, a parallel opening / closing type gripper is provided at the tip of the robot arm 8.
  • FIG. 2 is a hardware block diagram relating to the control system of the robot 100.
  • the control unit 1, the storage unit 2, the display unit 3, the input unit 4, the communication unit 5, the arm control unit 7, the elevating operation unit 11 control unit 9, the trolley unit 13, And the head control unit 17 are connected to each other via a bus.
  • the control unit 1 is a control device such as a CPU, reads various programs, and executes processing for realizing various operations described later.
  • the storage unit 2 is a memory such as a ROM or RAM, and stores various programs and data.
  • the display unit 3 is connected to a display (not shown) provided on the robot to display various images.
  • the input unit 4 processes input from an input device such as a button (not shown) provided on the robot or a touch panel.
  • the communication unit 5 is a wired or wireless communication unit, and performs processing related to communication with an external device.
  • the arm control unit 7 performs a process of driving an actuator provided in the robot arm 8 in response to a command from the control unit 1.
  • the elevating operation unit 9 performs a process of driving the actuator provided in the elevating operation unit 11 in response to a command from the control unit 1.
  • the bogie unit control unit 13 performs a process of driving the wheels provided in the bogie unit 15 in response to a command from the control unit 1.
  • the head control unit 17 performs a process of driving the actuator and the camera 181 provided on the head 18 in response to a command from the control unit 1.
  • force control particularly impedance control
  • impedance control an example of admittance control that outputs a position by inputting a force is shown.
  • admittance control is exemplified in the present embodiment, the present invention is not limited to such a configuration. That is, it may be so-called impedance control in a broad sense that controls the response characteristics to an external force, and therefore, for example, impedance control in a narrow sense that outputs a force with a position as an input is also included.
  • FIG. 3 is a functional block diagram when impedance control is performed on the bogie unit 13, the elevating operation unit 9, and the arm control unit 7, as an example.
  • the control parameter setting unit 101 reads an impedance parameter from the storage unit 2 and the like, and performs a process of setting the impedance parameter in the impedance control unit 102.
  • the impedance parameter is a parameter composed of inertia (M), viscosity (D), and rigidity (K), and is represented as follows in relation to the external force Fix acting on the robot 100.
  • the impedance control unit 102 generates command values for each operation unit based on the position or attitude information sensed by the various operation units and the external force information.
  • the wheel angle and the IMU value that is, the values obtained by detecting the angular velocity and the acceleration are detected, and the position calculation unit 105 converts them into the position coordinates of the trolley unit 15 in the Cartesian coordinate system.
  • the converted position coordinates are provided to the impedance control unit 102.
  • the position coordinates in the Cartesian coordinate system of the elevating operation unit 11 are calculated from the position detection sensor provided in the slide operation unit of the elevating operation unit 11 and provided to the impedance control unit 102.
  • the joint angle information acquired in each joint of the robot arm 8 is converted into the hand position information of the robot arm in the forward kinematics processing unit 107 and provided to the impedance control unit 102. Further, the joint torque is detected by the torque sensors provided in each joint of the robot arm 8, and the detected joint torque is provided to the external force calculation unit 108. The external force calculation unit 108 calculates the external force in the Cartesian coordinate system based on each joint torque and provides it to the impedance control unit 102.
  • the impedance control unit 102 integrates the acquired position or posture coordinate information to calculate the hand position of the robot arm 8 in the Cartesian coordinate system. Based on this hand position and the set impedance parameter, a position command value for each moving unit is generated and provided to the inverse kinematics processing unit 103.
  • the inverse kinematics processing unit 103 calculates the position command value and joint angle of each operation unit based on the position command value, and the control unit of each operation unit, that is, the bogie unit control unit 13, the elevating operation unit control unit 9. And to the arm control unit 7. Impedance control is performed by repeating such a series of operations.
  • the present invention is not limited to the hardware configuration described in the present embodiment. Therefore, some functions may be integrated or divided. In addition, some functions may be divided in terms of hardware. For example, various settings related to force control may be made by using an information processing device, a workstation, or the like connected to the robot. Further, it may be configured to provide some functions via a network.
  • FIG. 4 is a general flowchart relating to a procedure for directly teaching the robot 100.
  • the user first performs a setting process related to impedance control (S1). After that, the user directly teaches the robot as soon as the setting process related to the impedance control is completed (S3).
  • FIG. 5 is a detailed flowchart of the operation of the robot 100 when the setting process related to impedance control is performed.
  • the process of accepting the input related to the mode is performed (S11).
  • the mode shifts to each mode. That is, when the simple setting mode is selected, the simple setting mode processing is executed (S13), while when the detailed setting mode is selected, the detailed setting mode processing is executed (S15).
  • 6 to 8 are diagrams related to the simple setting mode processing.
  • FIG. 6 is a detailed flowchart of the simple setting mode processing. As is clear from the figure, when the process starts, the reception screen is displayed and the input is accepted.
  • FIG. 7 is an explanatory diagram showing a display example of the reception screen.
  • the reception screen is composed of an operating unit display column 22 showing a list of operating units for which impedance control is desired, and a selection box column 21 including a selection box for selecting them.
  • an "arm” representing the robot arm 8 an "elevation operation unit” representing the elevating operation unit 11, and a trolley unit representing the trolley unit 15 are displayed.
  • a decision button 24 is displayed at the lower right of the figure.
  • a predetermined branching process is performed according to the selection result (S132), and a process for targeting the operating unit for impedance control is performed. (S132). For example, in FIG. 7, since the selection box 211 corresponding to the carriage portion 15 is checked, when the enter button 24 is selected in this state, the carriage portion 15 is impedance-impeded assuming that the “trolley portion” is selected.
  • the processes (S141 to S143) to be controlled are performed.
  • the degree of freedom possessed by the carriage unit 15, that is, the axis corresponding to the X-axis, Y-axis, and Rz-axis is set as the target of impedance control (S141). Further, the shaft that does not match the degree of freedom of the carriage portion 15 is fixed without being subject to impedance control (S142).
  • this fixing process is position control for maintaining the current predetermined posture. Note that this fixing process is not limited to this embodiment, and may be realized by changing its parameters, for example, as impedance control.
  • a process of accepting the input of the impedance parameter is performed for the axis targeted for impedance control (S143). More specifically, for each axis, a process of accepting numerical inputs relating to inertia (M), viscosity (D), and rigidity (K) is performed. When this process is performed, the process ends.
  • FIG. 8 is a conceptual diagram of the impedance control table, that is, a conceptual diagram showing the relationship between the axes in the Cartesian coordinate system, the operating unit corresponding to each axis, and the corresponding impedance parameters. From the left, the table is composed of an axis display column 26, a control target display column 27, and an impedance parameter display column 28.
  • the X-axis, Y-axis, and Rz-axis which match the degrees of freedom of the bogie part 15, are
  • the dolly unit 15 is set to take charge of impedance control. Further, the other axes (Z axis, Rx axis, Ry axis) are set to be fixed. Further, impedance parameters are set for each axis for impedance control.
  • the bogie portion 15 is set to a state in which the X-axis, the Y-axis, and the Rz-axis operate without resistance, that is, a follow-up control state. Has been done.
  • the simple setting mode allows batch input without making detailed settings for each axis simply by setting the operation unit for which force control is desired, so that force control can be easily set.
  • FIGS. 9 to 10 are diagrams relating to the detailed setting mode processing.
  • FIG. 9 is a detailed flowchart regarding the operation of the detailed setting mode. As is clear from the figure, when the process starts, the reception screen display process and the input reception process are performed (S152).
  • FIG. 10 is a display example of the reception screen.
  • the reception screen is in a table format in the present embodiment, and the table is composed of an axis display area 31, a control target setting area 32, and a parameter setting area 33 from the left.
  • the process of accepting the selection of the operation unit to be set, for example, the robot arm 8, the elevating operation unit 11, the carriage unit 15, and the like is performed ( S153).
  • the process of storing the control target for each axis is performed, and the process of displaying the characters input at the corresponding positions is performed (S155).
  • This series of processing is performed until the input processing to the control setting area 32 is completed (S156NO).
  • the detection process of whether or not there is a predetermined input indicating that all the setting processes are completed is performed (S161).
  • the input acceptance process of the numerical value of each impedance parameter corresponding to the inertia (M), the viscosity (D) and the rigidity (K) is performed.
  • a predetermined input is performed for each parameter (S158)
  • a process of storing each parameter for each axis is performed, and a process of displaying the input numerical value at the corresponding position is performed (S159).
  • This series of processing is performed until the input processing to the parameter setting area 33 is completed (S160NO).
  • the detection process of whether or not there is a predetermined input indicating that all the setting processes are completed is performed (S161).
  • control target setting area 32 and the parameter setting area 33 are in an inputtable state.
  • the "arm” meaning the robot arm 8 is selected as the target for impedance control, and the impedance corresponding to inertia (M), viscosity (D), and rigidity (K) is selected.
  • the parameters are set to "50", "100" and "0", respectively.
  • the detailed setting mode allows the force control parameters to be set for each axis, so that detailed force control settings can be made.
  • FIG. 11 is a detailed flowchart regarding the operation of the robot 100 when the user directly teaches the robot (S3).
  • the control parameter setting unit 101 performs a process of reading out various control parameters stored in the storage unit 2 (S31). After that, the impedance control unit 102 or the like actually controls each operation unit of the robot 100 based on the control parameters (S32). This process is continuously performed until a predetermined control end signal is generated (S33NO).
  • the process of waiting for the start signal of the teaching operation is performed (S36NO).
  • the process of storing the operation information such as the position information of each operation unit is performed until the teaching end signal is received (S38NO) (S37). That is, in this state, the user can teach and memorize the operation with the robot arm 8 or the like of the robot 100.
  • force control can be appropriately applied to a robot having a plurality of moving parts according to its application, so that a highly safe robot can be provided.
  • FIG. 12 is an explanatory diagram relating to the task of the robot 300 in the factory 200 assumed in the present embodiment.
  • the figure is a plan view of the factory 200, and the parts shelves 41a to 41c in which the parts are arranged and the work table 42 are arranged in the factory 200.
  • the robot 300 picks up parts from the parts shelf 41a using the robot arm 8 and the elevating / lowering operation unit 11, and sets a solid line path with point A as the start point and point B as the end point in the figure. Move and place the picked up parts on the workbench 42 at point B.
  • the robot 300 according to the present embodiment is also substantially the same as the hardware configuration described with reference to FIGS. 1 to 3.
  • the target of the force control is configured to be input by the user via the input unit 4, but in the present embodiment, the impedance control table corresponding to each task is stored in the storage unit 2. Has been done.
  • FIG. 13 is a table showing the correspondence between the task and the impedance table.
  • the storage unit 2 stores the table 1 corresponding to the pick-up task, the table 2 corresponding to the moving task, and the table 3 corresponding to the mounting task. That is, the target for impedance control is appropriately switched by switching to the corresponding table according to the switching of the task.
  • FIG. 14 is a conceptual diagram of a table 1 corresponding to the pickup task and a table 3 corresponding to the placement task.
  • a robot arm 8 is set for the X-axis of the Cartesian coordinate system
  • a robot arm 8 is set for the Y-axis
  • an elevating motion unit 11 is set for the Z-axis.
  • the rotation axes Rx, Ry, and Rz are controlled to be fixed. That is, when the robot 300 performs the pick-up task and the mounting task, the robot arm 8 is controlled for the X-axis and the Y-axis, and the elevating and lowering operation unit 11 is controlled for the Z-axis so as to have flexibility by impedance control. ..
  • FIG. 15 is a conceptual diagram of the table 2 corresponding to the moving task.
  • the carriage portion 15 is set for the X-axis of the Cartesian coordinate system, and the carriage portion 15 is set for the Y-axis as well.
  • the Z axis and the respective rotation axes Rx, Ry, and Rz are controlled to be fixed. That is, the robot 300 is controlled so as to have flexibility by impedance control in the X-axis and Y-axis directions of the carriage portion 15 when performing a moving task.
  • FIG. 16 is a general flowchart relating to the operation of the robot 300 according to the present embodiment.
  • the robot 300 in front of the parts shelf 41a executes the parts pick-up task (S5).
  • the robot 300 that picks up the parts from the parts shelf 41a then moves along a solid line route with the point A in FIG. 12 as the start point and the point B as the end point (S7).
  • the robot executes the task of placing the parts on the workbench 42 at the point B (S9), and the process ends.
  • FIG. 17 is a detailed flowchart regarding the execution process of the component pick-up task.
  • the process of reading the control parameters including the above-mentioned table 1 is performed (S51).
  • the control process of the robot 300 based on the control parameter is started (S52).
  • the robot arm 8 and the elevating / lowering operation unit 11 are controlled to have flexibility by impedance control.
  • the control continues state until a predetermined control end signal is detected (S53NO).
  • the robot 300 performs the control process of the pickup operation (S54). More specifically, the parts are recognized using the image acquired from the camera 181 and the robot arm 8 is used to perform leaching, gripping, lifting and the like. After the pickup operation is completed, a control end signal generation process is performed (S55).
  • FIG. 18 is a detailed flowchart regarding the execution process of the move task.
  • the process of reading the control parameters including the above-mentioned table 2 is performed (S71).
  • the control process of the robot 300 based on the control parameter is started (S72).
  • the carriage portion 15 is controlled to have flexibility by impedance control.
  • the control continues state until a predetermined control end signal is detected (S73NO).
  • the process of controlling the movement operation of the robot 300 is performed (S74). That is, the movement is performed along a solid line with the point A in FIG. 12 as the start point and the point B as the end point.
  • a control end signal is generated (S75).
  • the robot detects this control end signal (S73YES)
  • the robot performs the control end process of the robot (S77), and the process ends.
  • FIG. 19 is a detailed flowchart regarding the execution process of the component mounting task.
  • the process of reading the control parameters including the above-mentioned table 1 is performed (S91).
  • the control process of the robot 300 based on the control parameter is started (S92).
  • the robot arm 8 and the elevating / lowering operation unit 11 are controlled to have flexibility by impedance control.
  • the control continues state until a predetermined control end signal is detected (S93NO).
  • the robot 300 performs the control process of the mounting operation (S94). More specifically, the image acquired from the camera 181 is used to recognize the placement location and the like, and the robot arm 8 is used to perform leaching, gripping, lifting and the like. After the pickup operation is completed, a control end signal generation process is performed (S55).
  • impedance control can be performed for the optimum operating unit by reading out the control table stored in advance in the robot 300 in order according to the task.
  • the force can be released due to the flexibility of impedance control, which can improve safety.
  • the configuration of the robot according to the present invention is not limited to each of the above embodiments, and the configuration can be appropriately changed without departing from the gist of the present invention.
  • the present invention can be used, for example, in an industry that manufactures industrial robots and the like.
  • Control unit 2 Storage unit 3
  • Display unit 4 Input unit 5
  • Communication unit 7 Arm control unit 8
  • Robot arm 9 Elevating movement unit Control unit 11 Elevating movement unit 13
  • Vehicle unit control unit 15 Vehicle unit 17
  • Head control unit 18 Head 101
  • Control Parameter setting unit 102 Impedance control unit 103
  • Inverse kinematics processing unit 104 Robot control unit 105
  • Position calculation unit 107 Forward kinematics processing unit 108
  • External force calculation unit 181 Camera 100 Robot 200 Factory 300 Robot

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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PCT/JP2019/050969 2019-12-25 2019-12-25 ロボット、システム、方法及びプログラム Ceased WO2021130929A1 (ja)

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JP2016043457A (ja) * 2014-08-25 2016-04-04 セイコーエプソン株式会社 ロボットおよびロボットシステム
JP2018158435A (ja) * 2017-03-21 2018-10-11 セイコーエプソン株式会社 制御装置、教示装置、及びロボットシステム

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JPWO2023032217A1 (https=) * 2021-09-06 2023-03-09
WO2023032217A1 (ja) * 2021-09-06 2023-03-09 東京ロボティクス株式会社 ロボット及びロボットシステム
JP7776515B2 (ja) 2021-09-06 2025-11-26 東京ロボティクス株式会社 ロボット及びロボットシステム

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