WO2022201362A1 - ロボット制御装置、ロボット制御プログラムおよびロボット制御方法 - Google Patents
ロボット制御装置、ロボット制御プログラムおよびロボット制御方法 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 55
- 238000011156 evaluation Methods 0.000 claims description 59
- 238000003860 storage Methods 0.000 claims description 38
- 239000012636 effector Substances 0.000 claims description 20
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- 238000005259 measurement Methods 0.000 claims description 3
- 230000004048 modification Effects 0.000 abstract 1
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- 238000005516 engineering process Methods 0.000 description 3
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- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
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- 238000004590 computer program Methods 0.000 description 1
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- 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
- B25J9/1666—Avoiding collision or forbidden zones
-
- 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
-
- 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
- G05B2219/40371—Control trajectory to avoid joint limit as well as obstacle collision
-
- 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
- G05B2219/40519—Motion, trajectory planning
Definitions
- the present disclosure relates to a robot control device, a robot control program, and a robot control method for moving an articulated robot from a start point to an end point.
- Patent Document 1 it is possible to change the trajectory of a specific work area section where interference occurs, but the section to be changed is fixed at the section where it is determined that interference with an obstacle has occurred. .
- the evaluation value may deteriorate beyond the allowable range when considering the connection with the section that is not changed.
- a waiting time is required to wait for the hand to change the movement, which may increase the operation time.
- the present disclosure has been made in view of the above, and is a robot control apparatus capable of shortening the time to generate a trajectory in which the evaluation value is within a certain range even when the position and orientation of the target object vary. is intended to obtain
- a robot control device moves an end effector of a robot from a start point to an end point to preset a target object whose position and orientation are not fixed. perform the assigned task.
- the robot controller includes a storage unit that stores reference trajectories and branch points corresponding to each of a plurality of sets of possible positions and orientations of the target object, and measures the position and orientation of the target object during task execution.
- a first motion trajectory which is the motion trajectory of the robot from the starting point to the branch point
- the obtained motion trajectory which is the motion trajectory of the robot from the acquired branch point to the end point
- the obtained second motion trajectory which is the motion trajectory of the robot from the acquired branch point to the end point
- a reference trajectory is a motion trajectory of a robot from a starting point to a first point that is one of a plurality of sets of possible positions and postures of a target object, avoids interference with obstacles, and is evaluated.
- a branch point is a point on the reference trajectory, and is a motion trajectory that satisfies that the evaluation value of the motion trajectory from the branch point to the first point falls within a second range wider than the first range.
- FIG. 1 is a conceptual diagram showing the configuration of a robot system according to Embodiment 1;
- FIG. FIG. 4 is a plan view conceptually showing in-plane rotational deviation of the target object according to Embodiment 1;
- 4 is a conceptual diagram showing a plurality of hand approach candidates according to Embodiment 1.
- FIG. 1 is a block diagram showing the overall configuration of a robot control device according to Embodiment 1;
- FIG. 4 is a diagram for explaining position definitions within a target set according to Embodiment 1;
- FIG. 4 is a diagram for explaining a plurality of patterns with different rotation deviation angles of the target object according to Embodiment 1;
- FIG. 4 is a diagram for explaining a plurality of patterns of different hand approaches to a target object according to Embodiment 1; 4 is a flow chart showing the operation of a trajectory generation unit that adds a reference trajectory and branch points from a target set to an individual branch point storage unit according to the first embodiment;
- FIG. 4 is a conceptual diagram showing another selection example of the position of the target object used for generating the reference trajectory in Embodiment 1.
- FIG. 4 is a conceptual diagram showing another selection example of the position of the target object used for generating the reference trajectory in Embodiment 1.
- FIG. 4 is a conceptual diagram showing the relationship between reference trajectories and branch points in Embodiment 1.
- FIG. 4 is a flowchart showing a procedure for calculating a branch point according to Embodiment 1;
- FIG. 2 is a conceptual diagram showing the relationship between the reference trajectory and obstacles in the first embodiment;
- Conceptual diagram of selection range of branch points in Embodiment 1 FIG. 4 is a conceptual diagram showing a method of generating a trajectory by an individual trajectory generation unit according to the first embodiment;
- 4 is a flow chart showing processing procedures of an individual trajectory generation unit and a robot control unit according to the first embodiment;
- Flowchart showing an operation procedure for generating an individual trajectory in Embodiment 2 Conceptual diagram showing reference trajectories and individual trajectories in Embodiment 2
- FIG. 2 is a block diagram showing the hardware configuration of the robot control device according to the first and second embodiments;
- FIG. 1 is a flowchart showing a procedure for calculating a branch point according to
- FIG. 1 is a conceptual diagram showing the configuration of a robot system 100 according to Embodiment 1.
- a robot system 100 includes an articulated robot 101 having a plurality of axes and a plurality of arms, an end effector 102 attached to the tip of the arm of the robot 101, a belt conveyor 103, and an external robot. and a sensor 104 .
- the robot 101 moves the end effector 102 from the start point Ps to the end point Pe and executes a preset task.
- the end point Pe is defined based on the position and orientation of the target object 200 that is not fixed and is flowing on the belt conveyor 103 .
- the external sensor 104 as a measurement unit obtains the position and orientation of the target object 200 immediately before the actual movement of the robot 101 .
- the belt conveyor 103 carries out a transport operation in a fixed direction at a moving speed V [mm/s], and there is no jig for fixing the target object 200 on the belt conveyor 103 . Therefore, the target object 200 does not always have the same relative position and orientation with respect to the robot 101 .
- FIG. 2 is a plan view conceptually showing in-plane rotational deviation of the target object 200 in the first embodiment.
- FIG. 3 is a conceptual diagram showing a plurality of hand approach candidates according to the first embodiment.
- the loading surface of the belt conveyor 103 is viewed from above. Since there is no mechanism for fixing the target object 200 on the belt conveyor 103, the target object 200 rotates about the normal vector of the loading surface of the belt conveyor 103, here, the vector in the direction perpendicular to the plane of the paper, as the rotation axis. This rotation deviation is called an in-plane rotation with respect to the belt conveyor 103, and the rotation angle is called a rotation deviation angle.
- a plurality of hand approaches which are trajectories that bring the end effector 102 closer to the target object 200, are prepared in advance for the end effector 102, and the task can be achieved from the shape of the target object 200.
- Choose one hand approach In FIG. 3, two hand approaches are shown, including hand approach HA and hand approach HB.
- variations in the position and orientation of the target object 200 with respect to the robot 101 are based on displacement in the three-dimensional translational direction, in-plane rotation with respect to the belt conveyor 103, and the shapes of the end effector 102 and the target object 200.
- a pattern is a set of three elements, including the hand approach selected by
- FIG. 4 is a block diagram showing the overall configuration of the robot control device according to the first embodiment.
- the robot control device includes a peripheral device information acquisition unit 301, a task information acquisition unit 302, a target set setting unit 303, a trajectory generation unit 310 including a reference trajectory generation unit 304 and a branch point designation unit 305, and a storage unit. It has an individual branch point storage unit 306 , a sensor information acquisition unit 307 , an individual trajectory generation unit 308 and a robot control unit 309 .
- the peripheral device information acquisition unit 301 acquires peripheral device information, which is information about peripheral devices of the robot 101 .
- the peripheral device information is the moving speed V of the belt conveyor 103 .
- the task information acquisition unit 302 acquires task information, which is information regarding a task for generating a trajectory.
- the task information includes at least the type of end effector 102 to be used, the type of target object 200, and the target motion of the task.
- the target motion of the task includes grasping and placing the target object 200 .
- the target set setting unit 303 acquires the moving speed V of the belt conveyor 103 as peripheral device information from the peripheral device information acquisition unit 301 . Also, the target set setting unit 303 acquires task information from the task information acquisition unit 302 .
- the target set setting unit 303 uses the moving speed V of the belt conveyor 103 and the task information to determine a target set 201 that is a set of possible positions of the target object 200 and the target object 200 inside the target set 201. A possible combination of posture and hand approach is calculated.
- FIG. 5 is a conceptual diagram for explaining the target set 201 in Embodiment 1.
- FIG. A method of calculating the target set 201 in this embodiment will be described.
- the target set 201 shown in FIG. 5 is calculated based on the moving speed V of the belt conveyor 103 . If the upper limit of the time (operation time) required for the robot 101 to operate on the target object 200 is set to T[s], the length of the target set 201 in the conveyor moving direction can be set to T ⁇ V. Also, the length of the target set 201 in the direction orthogonal to the moving direction of the conveyor can be set to the width W [mm] of the belt conveyor 103, for example.
- the operation time of the robot 101 with respect to the target object 200 is, for example, the time it takes for the robot 101 to move from the start point Ps to the end point Pe and finish executing a preset task.
- variations in the height direction of the conveyor are not considered, but the three-dimensional target set 201 may be generated in consideration of variations in the height direction of the conveyor.
- the range of the target set 201 may be directly specified by the user as the limit of the work area assumed by the user of the robot system 100, regardless of the moving speed V of the belt conveyor 103.
- FIG. 6 is a diagram for explaining position definitions within the target set 201 according to the first embodiment.
- FIG. 7 is a diagram for explaining a plurality of patterns with different rotation deviation angles of the target object 200 according to the first embodiment.
- FIG. 8 is a diagram for explaining a plurality of patterns of different hand approaches to the target object 200 according to Embodiment 1.
- FIG. 6 is a diagram for explaining position definitions within the target set 201 according to the first embodiment.
- FIG. 7 is a diagram for explaining a plurality of patterns with different rotation deviation angles of the target object 200 according to the first embodiment.
- FIG. 8 is a diagram for explaining a plurality of patterns of different hand approaches to the target object 200 according to Embodiment 1.
- FIG. 6 is a diagram for explaining position definitions within the target set 201 according to the first embodiment.
- FIG. 7 is a diagram for explaining a plurality of patterns with different rotation deviation angles of the target object 200 according to the first embodiment.
- FIG. 8 is a diagram for explaining a
- the space within the target set 201 is divided into a plurality of pieces of arbitrary size, and a grid point G is defined at the center position of each of the plurality of divided grids.
- Each grid point G has position information indicating the position of its own grid point.
- the translational displacement position of the target object 200 is specified by specifying grid points G.
- N2 ( 3) patterns with different in-plane rotation deviation angles of the target object 200 .
- N2 ⁇ N3 variations patterns There are a maximum of N2 ⁇ N3 variations patterns. A number of 1 or more is set in advance for N2 and N3. The increment amount of the rotation deviation angle may be determined arbitrarily. Therefore, a total of N1 ⁇ N2 ⁇ N3 variation patterns of the target object 200 are set in the target set 201, and the trajectory generator 310 calculates branch points for each of the N1 ⁇ N2 ⁇ N3 variation patterns.
- the trajectory generation unit 310 is composed of a reference trajectory generation unit 304 and a branch point designation unit 305 .
- FIG. 9 is a flow chart showing the operation of the trajectory generation unit 310 for adding reference trajectories and branch points from the target set 201 to the individual branch point storage unit 306 according to the first embodiment.
- FIG. 10 is a conceptual diagram showing an example of selection of the position of the target object 200 used for generating the reference trajectory according to the first embodiment.
- FIG. 11 is a conceptual diagram showing another selection example of the position of the target object 200 used for generating the reference trajectory in the first embodiment.
- FIG. 12 is a conceptual diagram showing another selection example of the position of the target object 200 used for generating the reference trajectory in the first embodiment.
- the reference trajectory generation unit 304 reads the target set 201 calculated by the target set setting unit 303 and all the variation patterns of the target object 200 included in the target set 201 (S101).
- the reference trajectory generation unit 304 selects a variation pattern having some grid points G from among the plurality of variation patterns, and uses the selected variation pattern to generate a reference trajectory whose evaluation value is within the first range. is generated (S102). That is, the reference trajectory generation unit 304 sets the predetermined start point Ps as the operation start point, sets at least one specific variation pattern in the target set 201 as the end point Pe, and uses an arbitrary trajectory generation method to set the evaluation value to the first range. Generate a reference trajectory within
- the operation time described above is selected as the evaluation value.
- the operation time is set within T1 [s]. Therefore, a reference trajectory whose operating time is within T1 is generated.
- the evaluation values the predicted life of the robot 101 when the robot 101 repeatedly performs the operation on the target object 200, the electric power consumed by the robot 101 when the robot 101 performs the operation on the target object 200, and the like are used. good too.
- the variation pattern selected in S102 may be selected arbitrarily. For example, as shown in FIG. 10, it is conceivable to select a variation pattern having the grid point G of the grid at the center position of the target set 201 as position information.
- the variation pattern of the grid points G of the central grid of the target set 201 and the grid points G corresponding to the four corners of the target set 201 are used as position information. You can choose a pattern.
- multiple grid points G are selected, so multiple reference trajectories are generated.
- For the rotation deviation angle for example, one of N2 pattern variations is selected in advance.
- the variation pattern selected in S102 As shown in FIG. 12, the variation pattern having the position information of the grid points included in the grid G1 having the highest occurrence frequency during the actual operation within the target set 201 is selected.
- Grid G1 is indicated by thick lines. If this selection method is selected, it is possible to generate a trajectory whose evaluation value falls within the first range for the pattern with the highest probability of occurrence during actual operation, thereby improving productivity.
- trajectory generation methods for generating reference trajectories random sampling methods such as RRT (Rapidly Exploring Random Trees), trajectory parameter optimization methods such as CHOMP (Covariant Hamiltonian Optimization for Motion Planning), graph solution methods, reinforcement learning methods, etc. technology can be used. A combination of these techniques may also be used. Additionally, trajectories manually taught by the system user may be used.
- the generated reference trajectory is a trajectory that can avoid interference with obstacles in the workspace.
- the branch point designation unit 305 selects one of all the variation patterns for which branch points have not yet been recorded (S104).
- the branch point designation unit 305 selects one reference trajectory (S105). If there is only one reference trajectory, select that trajectory.
- the reference trajectory having the grid point G that is the end point Pe closest to the position of the variation pattern selected as the target is selected. do.
- the reference trajectory having the upper left corner grid as the end point Pe is selected. If a plurality of reference trajectories with the same proximity exist, rules are set in advance for selecting one reference trajectory from the plurality of reference trajectories.
- FIG. 13 is a conceptual diagram showing the relationship between the reference trajectory 202 and the branch points 204 in Embodiment 1.
- FIG. A relationship between the branch point 204 and the reference trajectory 202 will be described.
- a movement trajectory of the robot 101 for reaching the end point Pe other than the reference trajectory 202 in the target set 201 is called an individual trajectory 203 .
- Individual trajectory 203 shares a portion of the trajectory with reference trajectory 202 .
- a start position of a section in which the individual trajectory 203 is different from the reference trajectory 202 is called a branch point 204 . That is, the branch points 204 are selected from points within the reference trajectory 202 , one point for each individual trajectory 203 .
- Obstacle 205 is illustrated in FIG.
- FIG. 14 is a flowchart showing the procedure for calculating the branch point 204 in Embodiment 1, and shows the details of the processing performed in S106 of FIG. In S106, a branch point candidate whose evaluation value is within the second range is searched.
- FIG. 15 is a conceptual diagram showing the relationship between reference trajectory 202 and obstacle 205 in the first embodiment.
- FIG. 16 is a conceptual diagram regarding the selection range of the branch point 204 according to the first embodiment.
- the branch point specifying unit 305 extracts a plurality of motion points that are candidates for the branch point 204 from the reference trajectory 202 (S201).
- An operation point that is a candidate for the branch point 204 is represented by a set of state quantities that uniquely determine the position and orientation of the end effector 102 installed on the robot 101 .
- the motion points that are candidates for the branch point 204 are represented by a set of angles of the axis motors of the robot 101 .
- the reference trajectory 202 is composed of a set of data to which a time label is given when the start point Ps is placed at time 0 for the set of angles of the respective axis motors of the robot 101 .
- the reference trajectory 202 is a trajectory that can avoid interference with obstacles 205 in the workspace, as described above. If the branch point 204 is specified at an early stage of the reference trajectory 202 and the remainder of the individual trajectory 203 up to the end point Pe is generated, the number of obstacles 205 to be considered increases, and the generation of the individual trajectory 203 takes time. It takes. Therefore, it is desirable to branch the trajectory from the branch point 204 to the individual trajectory 203 when the obstacle 205 is avoided as much as possible.
- a temporary obstacle 206 is set with a margin of a certain distance L around an obstacle 205 existing in the work space.
- the distance L may be specified arbitrarily.
- a section that is a candidate for the branch point 204 is a section C1 up to a point Px1 that collides with the temporary obstacle 206 when the reference trajectory 202 is traced back from the end point Pe side to the start point Ps side. That is, the branch point 204 is selected from the section of the reference trajectory 202 in which the end effector 102 does not interfere with the temporary obstacle 206 and the robot body.
- the robot main body refers to parts of the robot 101 other than the end effector 102 .
- an operating point included in section C2 on reference trajectory 202 corresponding to range d between end point Pe of reference trajectory 202 and position Px2 of the selected variation pattern is set as a branch point. 204 candidates.
- the branch point designation unit 305 confirms whether or not the evaluation values of the individual trajectories 203 have been calculated for all the branch point 204 candidates (S202). If the evaluation value of the individual trajectory 203 has not been calculated for all the candidates of the branch point 204 (S202: No), the branch point designation unit 305 selects one point from the plurality of candidates of the branch point 204 extracted in S201. (S203). Then, the branch point designating unit 305 generates an individual trajectory 203, which is a trajectory from one candidate for the selected branch point 204 to the position of one variation pattern selected in S104 (S204).
- the branch point designation unit 305 uses the same method as the generation of the individual trajectory 203 performed by the individual trajectory generation unit 308, which will be described later.
- the branch point specifying unit 305 calculates the evaluation value of the individual trajectory 203 generated in S204 (S205).
- FIG. 17 is a conceptual diagram showing a trajectory generation method by the individual trajectory generation unit 308 according to the first embodiment.
- the branch point designation unit 305 also generates the individual trajectory 203 by the same processing as in FIG. A method of generating the individual trajectory 203 will be described below.
- the trajectory after the branch point 204 is generated using the joint interpolation method.
- the joint interpolation method is one of the first operations for generating individual trajectories 203 .
- FIG. 17 is a conceptual diagram showing the case where the number of axes of the robot 101 is two, the same method can be applied to the number of axes of two or more.
- 17 shows a time chart of the commanded angular velocity of the axis 1 and a time chart of the commanded angular velocity of the axis 2.
- kt indicates acceleration time
- gt indicates deceleration time
- tt indicates constant speed time.
- the individual trajectory generation unit 308 determines the maximum angular change amount from the branch point 204 to the position of the selected variation pattern, which is the end point Pe, with respect to the maximum speed that each axis motor of the robot 101 can output.
- select the axis that In the present embodiment, the axis with the maximum angle change amount is referred to as a representative axis j'.
- a representative axis j' since the amount of change in angle of axis 1 is larger than the amount of change in angle of axis 2, axis 1 becomes the representative axis j'.
- ⁇ sj is the angle of the axis j at the branch point 204
- ⁇ Gj is the angle of the axis j at the position of one selected variation pattern which is the end point Pe
- v_max j is the maximum speed that the motor of the axis j can achieve.
- the maximum speed vj max during operation of the motor of the axis j other than the representative axis j' is temporarily set as shown in equation (2).
- ( ⁇ Gj - ⁇ sj ) indicates the amount of angular change of axis j other than representative axis j′
- ( ⁇ Gj ′ - ⁇ sj ′ ) indicates the amount of angular change of representative axis j′. ing.
- Acceleration is based on the maximum speed vj max during operation of each temporarily placed axis, the angular velocity vj s at the branch point 204 of each axis, the angular velocity vj e at the end point Pe of each axis, and the speed constraint and acceleration constraint of the robot 101.
- Time kt and deceleration time gt are determined.
- the constant speed time tt is determined by solving the following equation (3) regarding the representative axis j' for the constant speed time tt. In formula (3), for the sake of convenience, each symbol in formula (3) is omitted.
- the maximum speed vj max of the axis j other than the temporarily placed representative axis j' is determined.
- Angular velocity command values after the branch point 204 are obtained for all the axes included in the robot 101 by the above calculations. Therefore, by integrating the angular velocity command value with respect to time, it is possible to calculate a set of an operating point after the branch point 204 and a time label.
- the branch point specifying unit 305 designates an individual trajectory, which is a trajectory from one branch point 204 selected from a plurality of candidates for the branch point 204 to the position of the variation pattern selected in S104. 203 (S204), the evaluation value of the generated individual trajectory is calculated (S205). Next, the branch point specifying unit 305 checks whether the calculated evaluation value is within the second range (S206). In this embodiment, the second range is set within the operation time T2 [s]. Set T2>T1. The second range is set wider than the first range.
- the branch point designation unit 305 designates the selected branch point as a formal branch point (S108). If the evaluation value is not within the second range (S206: No), the procedure returns to S202. When the procedure returns to S202, another candidate is selected from among the plurality of candidates for the branch point 204 extracted in S201. It is determined whether the evaluation value of the individual trajectory 203 is within the second range. By repeating the processing of S202 to S206 in this manner, the branch point 204 at which the evaluation value of the individual trajectory 203 falls within the second range is obtained.
- the branch point specifying unit 305 selects the variation pattern selected in S104, the reference trajectory 202 selected in S105 or the reference trajectory 202 added in S107, and the reference trajectory 202 specified in S108.
- the branch point 204 obtained is recorded as a set in the individual branch point storage unit 306 (S109). That is, the branch point designation unit 305 records trajectory set data, which is a set of the variation pattern, the reference trajectory 202, and the branch point 204, in the individual branch point storage unit 306.
- the procedure moves to S103.
- S103 it is determined whether or not the branch points 204 are recorded for all the variation patterns calculated by the target set setting unit 303.
- FIG. If there remains a variation pattern for which the branch point 204 is not recorded, the trajectory generation unit 310 repeats the processing of S103 to S109 and the processing of S201 to S206 to obtain the branch point 204 for all the variation patterns. is recorded in the individual branch point storage unit 306 .
- FIG. 18 is a flow chart showing the processing procedure of the individual trajectory generation unit 308 and the robot control unit 309 according to the first embodiment.
- the robot control unit 309 generates an operation command for the robot 101 using the information recorded in the individual branch point storage unit 306 when the robot 101 is actually working.
- the sensor information acquisition unit 307 uses the external sensor 104 to measure the actual position, orientation, and shape of the target object 200 (S301).
- the individual trajectory generation unit 308 also acquires the type of the end effector 102 and the type of the target object 200 from the task information acquisition unit 302 and acquires the moving speed V of the belt conveyor 103 from the peripheral device information acquisition unit 301 .
- the individual trajectory generator 308 selects a hand approach from the shape of the target object 200 and task information.
- the individual trajectory generation unit 308 reads trajectory set data having a variation pattern closest to the actual position and orientation of the target object 200 from the individual branch point storage unit 306 . Then, the individual trajectory generator 308 extracts the reference trajectory 202 and the branch point 204 included in the read trajectory set data (S302).
- the individual trajectory generation unit 308 generates an individual trajectory from the extracted branch point 204 to the end point Pe' using the actual position and orientation of the target object 200 acquired in S301 as the end point Pe' (S303).
- the method described with reference to FIG. 17 is used to generate individual trajectories.
- the individual trajectory generator 308 uses the reference trajectory 202 extracted in S302 as it is for the trajectory from the starting point Ps to the branch point 204 extracted in S302.
- the trajectory from the start point Ps to the branch point 204 corresponds to the first motion trajectory in the claims, and the trajectory from the branch point 204 to the end point Pe' corresponds to the second motion trajectory in the claims.
- the individual trajectory generator 308 sends a motion command to the robot controller 309, including the generated individual trajectory from the branch point 204 to the end point Pe' and the reference trajectory 202 in the section from the start point Ps to the branch point 204.
- Send (S304).
- the robot control unit 309 drives the robot 101 according to the received motion command. Thereby, the robot 101 moves the end effector 102 from the start point Ps to the end point Pe, and executes a preset task on the target object 200 .
- reference trajectory 202 which is an operation trajectory that can avoid interference with obstacle 205 and satisfies that the evaluation value falls within the first range, is from start point Ps to branch point 204. is used as is to generate the motion trajectory, and from the branch point to the target object 200, the motion trajectory is generated according to the actual position and orientation of the target object 200. Therefore, when the position and orientation of the target object 200 vary Also in , it is possible to shorten the time for calculating a trajectory in which the evaluation value is within a certain range, and to improve productivity.
- the branch point 204 when generating the individual trajectory 203, the branch point 204 is selected so that the evaluation value falls within a certain range.
- the trajectory generated can guarantee a constant productivity.
- a candidate for the branch point 204 is selected from among the points. Therefore, the number of obstacles 205 to be considered when generating the individual trajectory 203 is reduced, and the time required to generate the individual trajectory 203 can be shortened.
- the task including the operation of the end effector 102 can be efficiently performed in response to the variation of the target object 200. can be achieved.
- the reference trajectory 202 is newly generated and added. , it can be guaranteed to generate motion trajectories for all variation patterns in the target set 201 .
- Embodiment 2 reference trajectories 202 and branch points 204 are separately set for all variation patterns of target objects 200 included in target set 201 .
- one reference trajectory 202 and one branch point 204 are set for all variation patterns included in the target set 201 . That is, in Embodiment 2, one reference trajectory 202 and one branch point 204 are shared by all variation patterns.
- FIG. 19 is a flow chart showing the operation procedure for generating the individual trajectory 203 according to the second embodiment.
- FIG. 20 is a conceptual diagram showing reference trajectory 202 and individual trajectory 203 in the second embodiment.
- the same robot system 100 as in the first embodiment is used.
- the target set setting unit 303 and the reference trajectory generation unit 304 perform the same processing as in the first embodiment.
- one reference trajectory 202 and one branch point 204 are provided for all variation patterns of the target object 200 included in the target set 201.
- FIG. Therefore, in the second embodiment, the reference trajectory 202 is used as it is in the section from the start point Ps to the branch point 204, and the section from the branch point 204 to the actual end point Pe is used in the section from the branch point 204 to the actual end point Pe.
- An individual trajectory is generated according to the actual position and attitude of the end point Pe.
- an individual trajectory 203-C is generated, and if the actual end point Pe is the lower left corner, an individual trajectory 203-D is generated, and the actual end point Pe is the upper right corner, an individual trajectory 203-A is generated, and if the actual end point Pe is the lower right corner, an individual trajectory 203-B is generated.
- the target set setting unit 303 reads the target set 201 calculated by the target set setting unit 303 and all the variation patterns of the target object 200 included in the target set 201 in the same manner as in the first embodiment (S401). ).
- the reference trajectory generation unit 304 selects a variation pattern having a part of the grid points G from among the plurality of variation patterns, sets the selected variation pattern as the end point Pe, and sets the predetermined start point Ps as the operation start point.
- an arbitrary trajectory generation method is used to generate the reference trajectory 202 whose evaluation value is within the first range (S402).
- the evaluation value of the trajectory is the operating time as in the first embodiment.
- trajectory generation method known techniques such as random sampling methods such as RRT, trajectory parameter optimization methods such as CHOMP, graph solution methods, and reinforcement learning methods can be used. A combination of these techniques may also be used. Additionally, trajectories manually taught by the system user may be used.
- the branch point designating unit 305 designates a candidate point for the branch point 204 from among the operating points of the reference trajectory 202 (S403). As described with reference to FIGS. 14 to 16, the same method as in the first embodiment is used for the section for which the branch point 204 is to be selected.
- the branch point specifying unit 305 checks whether the evaluation values of the individual trajectories 203 when using the branch points 204 specified in S403 have been calculated for all the variation patterns of the target set 201 (S404). If there is an uncalculated variation pattern (S404: No), one of the uncalculated variation patterns is selected, and the evaluation value of the individual trajectory 203 is calculated (S405). The calculation method of the evaluation value of each individual trajectory 203 is the same as in the first embodiment. If evaluation values have been calculated for all variation patterns (S404: Yes), the process proceeds to S406.
- the branch point specifying unit 305 calculates the expected value of the evaluation values of all the variation patterns for the branch point candidates selected in S403 (S406).
- the equivalent average of the evaluation values of all variation patterns is adopted.
- the weight of the evaluation value of the individual trajectory 203 corresponding to the variation pattern in the center of the target set 201 is higher than the weight of the evaluation value of the individual trajectory 203 corresponding to the variation pattern in the outer periphery of the target set 201.
- a weighted average may be used.
- the expected value may be calculated based on the number of occurrences of each variation pattern in the actual production line.
- the branch point specifying unit 305 checks whether the calculated expected value of the evaluation value is within the second range (S407). As a second range, it is assumed that the operation time is within T2[s] (T2>T1). If the expected evaluation value is within the second range (S407: Yes), the process proceeds to S409. If the expected value of the evaluation value is not within the second range (S407: No), it is checked whether there are other points remaining as candidates for the branch point 204 in the reference trajectory 202 (S408). If candidates remain (S408: Yes), the process returns to S403 to set another branch point 204 candidate. If no candidate remains (S408: No), the process proceeds to S409. In addition, in the second embodiment, a third range wider than the second range may be set at the time of determination in S407.
- the branch point specifying unit 305 selects one branch point 204 and adds it to the individual branch point storage unit 306 as a set with the reference trajectory 202.
- the branch point 204 is selected at which the expected value of the evaluation value, that is, the expected value of the operation time is the smallest.
- a set of branch points 204 and reference trajectories 202 is stored in the individual branch point storage unit 306 .
- the individual branch point storage unit 306 uses the pair of branch points 204 and the reference trajectory 202 stored in the individual branch point storage unit 306, and performs the same operation as described in FIG. , the motion trajectory of the robot 101 is generated.
- the actual position, pose, and shape of target object 200 are measured using external sensors 104 .
- a pair of branch points 204 and reference trajectory 202 are retrieved from the individual branch point storage unit 306 .
- an individual trajectory from the extracted branch point 204 to the end point Pe' is generated using the method described with reference to FIG.
- the reference trajectory 202 is adopted as it is.
- the robot 101 is driven based on the motion command including the generated individual trajectory from the branch point 204 to the end point Pe′ and the reference trajectory 202 in the section from the start point Ps to the branch point 204 .
- the branch point 204 is selected from among the candidates in the reference trajectory 202 so that the expected value of the evaluation value is the minimum. Guarantee constant productivity. However, compared to the first embodiment in which the branch point 204 is specified for each variation pattern of the target object 200, the productivity of individual trajectories for individual variation patterns may decrease.
- FIG. 21 is a block diagram of a hardware configuration of the robot control device according to the first and second embodiments.
- the robot control device can be realized by the hardware configuration 406 including the arithmetic device 404 and the storage device 405 shown in FIG.
- Examples of the arithmetic unit 404 are CPU (Central Processing Unit, central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, DSP (Digital Signal Processor)) or system LSI (Large Scale Integration).
- Examples of the storage device 405 are RAM (Random Access Memory) or ROM (Read Only Memory).
- the robot controller is implemented by the arithmetic device 404 reading out and executing a program for executing the operation of the robot controller stored in the storage device 405 . It can also be said that this program causes a computer to execute the procedure or method of the robot control device.
- the storage device 405 stores the branch point 204 and the reference trajectory 202.
- the storage device 405 is also used as a temporary memory when the arithmetic device 404 executes various processes.
- the program executed by the computing device 404 may be stored in a computer-readable storage medium in an installable or executable format and provided as a computer program product. Also, the program executed by the arithmetic device 404 may be provided to the robot control device via a network such as the Internet.
- the robot control device may be realized with dedicated hardware. Also, the functions of the robot control device may be partly implemented by dedicated hardware and partly implemented by software or firmware. For example, the target set setting unit 303, the reference trajectory generation unit 304, the branch point designation unit 305, and the individual branch point storage unit 306 are executed by a computer, and the sensor information acquisition unit 307, the individual trajectory generation unit 308, and the robot control unit 309 are executed by the robot. You can let the controller do it.
- the configuration shown in the above embodiment shows an example of the content of the present disclosure, and can be combined with another known technology. It is also possible to omit or change the part.
- Robot system 101 Robot, 102 End effector, 103 Belt conveyor, 104 External sensor, 200 Target object, 201 Target set, 202 Reference trajectory, 203 Individual trajectory, 204 Branch point, 205 Obstacle, 206 Temporary obstacle, 301 Periphery Device information acquisition unit 302 Task information acquisition unit 303 Target set setting unit 304 Reference trajectory generation unit 305 Branch point designation unit 306 Individual branch point storage unit 307 Sensor information acquisition unit 308 Individual trajectory generation unit 309 Robot Control unit, 310 trajectory generation unit, 404 arithmetic unit, 405 storage device, 406 hardware configuration, Pe end point, Ps start point.
Abstract
Description
図1は、実施の形態1におけるロボットシステム100の構成を示す概念図である。図1に示すように、ロボットシステム100は、複数の軸および複数のアームを有する多関節のロボット101と、ロボット101のアームの先端に装着されているエンドエフェクタ102と、ベルトコンベア103と、外部センサ104とを備えている。ロボット101は、エンドエフェクタ102を始点Psから終点Peまで移動させ、予め設定されたタスクを実行する。終点Peは、固定されておらず、ベルトコンベア103上を流れる対象物体200の位置および姿勢に基づいて定義される。計測部としての外部センサ104は、対象物体200の位置および姿勢を、ロボット101の実動作の直前に入手する。
実施の形態1では、目標集合201に含まれる対象物体200の全てのばらつきパターンに対し、参照軌道202および分岐点204を別々に設定した。これに対し、実施の形態2では、目標集合201に含まれる全てのばらつきパターンに対し、参照軌道202および分岐点204を1つ設定する。すなわち、実施の形態2では、1つの参照軌道202および1つの分岐点204は、全てのばらつきパターンで共用される。
Claims (15)
- ロボットのエンドエフェクタを始点から終点まで移動させて、位置および姿勢が固定されていない対象物体に対して予め設定されたタスクを実行するロボット制御装置であって、
前記対象物体が取り得る複数の位置および姿勢の組の各々に対応して、参照軌道および分岐点が記憶される記憶部と、
前記タスクの実行時に、前記対象物体の位置および姿勢を計測する計測部と、
計測された前記対象物体の位置および姿勢に対応する前記参照軌道および前記分岐点を前記記憶部から取得し、計測された前記対象物体の位置および姿勢を前記終点に設定し、取得された前記参照軌道を使用して前記始点から前記分岐点までの前記ロボットの動作軌道である第1の動作軌道を生成し、取得された前記分岐点から前記終点までの前記ロボットの動作軌道である第2の動作軌道を第1の演算を行って生成する個別軌道生成部と、
前記第1の動作軌道および前記第2の動作軌道を含む動作指令に従って前記ロボットを駆動制御するロボット制御部と、
を備え、
前記参照軌道は、前記始点から、前記対象物体が取り得る複数の位置および姿勢の組のうちの一つである第1点までの前記ロボットの動作軌道であって、障害物との干渉を回避でき、かつ評価値が第一の範囲に入ることを満足する動作軌道であり、
前記分岐点は、前記参照軌道上の一点であって、前記分岐点から前記第1点までの動作軌道の前記評価値が前記第一の範囲より広い第二の範囲に入ることを満足する動作軌道である
ことを特徴とするロボット制御装置。 - 前記対象物体が取り得る複数の位置および姿勢の組の集合を目標集合に設定する目標集合設定部と、
前記目標集合に含まれる前記対象物体の少なくとも一つの位置および姿勢の組を選択し、選択した前記対象物体の位置および姿勢の組に基づいて前記参照軌道を生成する参照軌道生成部と、
生成された前記参照軌道上から前記分岐点の複数の候補点を抽出し、抽出された複数の候補点から前記第1点までの複数の動作軌道のなかから前記評価値が前記第二の範囲に入る動作軌道を選択し、選択された動作軌道に対応する候補点を前記第1点に対応する分岐点に決定する第1の処理を、前記対象物体が取り得る複数の位置および姿勢の組の全てについて実行して、前記対象物体が取り得る位置および姿勢の組毎に、前記分岐点を算出し、算出された分岐点および生成された前記参照軌道を前記記憶部に記憶する分岐点指定部と、
を備えることを特徴とする請求項1に記載のロボット制御装置。 - 前記参照軌道生成部は、前記対象物体が取り得る複数の位置および姿勢の組に共通の一つの参照軌道を生成することを特徴とする請求項2に記載のロボット制御装置。
- 前記参照軌道生成部は、前記目標集合の中心位置に前記一つの参照軌道を設定することを特徴とする請求項3に記載のロボット制御装置。
- 前記参照軌道生成部は、前記ロボットの実際の動作時に発生頻度が最も高かった位置に前記一つの参照軌道を設定することを特徴とする請求項3に記載のロボット制御装置。
- 前記参照軌道生成部は、前記対象物体が取り得る位置および姿勢の組に応じて異なる前記第1点に前記参照軌道を設定することを特徴とする請求項2に記載のロボット制御装置。
- 前記参照軌道生成部は、前記評価値が前記第二の範囲に入る条件を満たす前記分岐点が存在しない場合に、新たな参照軌道を生成することを特徴とする請求項2に記載のロボット制御装置。
- 前記記憶部は、前記対象物体が取り得る複数の位置および姿勢の組の各々に対応して、前記参照軌道、前記分岐点および前記対象物体へのハンドアプローチの軌道の組を記憶することを特徴とする請求項1に記載のロボット制御装置。
- ロボットのエンドエフェクタを始点から終点まで移動させて、位置および姿勢が固定されていない対象物体に対して予め設定されたタスクを実行するロボット制御装置であって、
前記対象物体が取り得る複数の位置および姿勢の組に対し共通する一つの参照軌道および一つの分岐点が記憶される記憶部と、
前記タスクの実行時に、前記対象物体の位置および姿勢を計測する計測部と、
前記記憶部から前記参照軌道および前記分岐点を取得し、計測された前記対象物体の位置および姿勢を前記終点に設定し、前記取得された参照軌道を使用して前記始点から前記分岐点までの前記ロボットの動作軌道である第1の動作軌道を生成し、取得された前記分岐点から前記終点までの前記ロボットの動作軌道である第2の動作軌道を第1の演算を行って生成する個別軌道生成部と、
前記第1の動作軌道および前記第2の動作軌道を含む動作指令に従って前記ロボットを駆動制御するロボット制御部と、
を備え、
前記参照軌道は、前記始点から、前記対象物体が取り得る複数の位置および姿勢の組のうちの一つである第1点までの前記ロボットの動作軌道であって、障害物との干渉を回避でき、かつ評価値が第一の範囲に入ることを満足する動作軌道であり、
前記分岐点は、前記参照軌道上の一点であって、前記分岐点から前記対象物体が取り得る複数の位置および姿勢の組までの複数の動作軌道の前記評価値の平均が前記第一の範囲より広い第二の範囲に入ることを満足する動作軌道である
ことを特徴とするロボット制御装置。 - 前記対象物体が取り得る複数の位置および姿勢の集合を目標集合に設定する目標集合設定部と、
前記目標集合に含まれる前記対象物体の一つの位置および姿勢の組を選択し、選択した前記対象物体の位置および姿勢の組に基づいて前記参照軌道を生成する参照軌道生成部と、
生成された前記参照軌道上から前記分岐点の複数の候補点を抽出し、抽出された複数の候補点のうちの1つの候補点から前記対象物体が取り得る複数の位置および姿勢の組までの複数の動作軌道の前記評価値の平均を求める第2の処理を、全ての候補点について実行し、前記複数の候補点のうちの前記評価値の平均が前記第二の範囲に入る候補点を前記分岐点に決定し、前記決定された分岐点および前記参照軌道を前記記憶部に記憶する分岐点指定部と、
を備えることを特徴とする請求項9に記載のロボット制御装置。 - 前記評価値の平均は、前記目標集合の中央部の前記評価値の重みが、前記目標集合の外側周辺の前記評価値の重みより、高くなる重み付き平均であることを特徴とする請求項10に記載のロボット制御装置。
- 前記分岐点指定部は、前記参照軌道のうち、前記障害物の外周に一定の距離でマージンを取った仮障害物に対し前記エンドエフェクタとロボット本体との干渉が発生しない区間の中から前記分岐点を選ぶことを特徴とする請求項2または請求項10に記載のロボット制御装置。
- 前記評価値は、前記ロボットの動作時間であることを特徴とする請求項1から請求項12の何れか一つに記載のロボット制御装置。
- ロボットのエンドエフェクタを始点から終点まで移動させて、位置および姿勢が固定されていない対象物体に対して予め設定されたタスクを実行するロボット制御プログラムであって、
前記対象物体が取り得る複数の位置および姿勢の組の各々に対応して、参照軌道および分岐点を記憶部に記憶するステップと、
前記タスクの実行時に、前記対象物体の位置および姿勢を計測するステップと、
計測された前記対象物体の位置および姿勢に対応する前記参照軌道および前記分岐点を前記記憶部から取得し、計測された前記対象物体の位置および姿勢を前記終点に設定し、取得された前記参照軌道を使用して前記始点から前記分岐点までの前記ロボットの動作軌道である第1の動作軌道を生成し、取得された前記分岐点から前記終点までの前記ロボットの動作軌道である第2の動作軌道を第1の演算を行って生成するステップと、
前記第1の動作軌道および前記第2の動作軌道を含む動作指令に従って前記ロボットを駆動制御するステップと、
をコンピュータに実行させ、
前記参照軌道は、前記始点から、前記対象物体が取り得る複数の位置および姿勢の組のうちの一つである第1点までの前記ロボットの動作軌道であって、障害物との干渉を回避でき、かつ評価値が第一の範囲に入ることを満足する動作軌道であり、
前記分岐点は、前記参照軌道上の一点であって、前記分岐点から前記第1点までの動作軌道の前記評価値が前記第一の範囲より広い第二の範囲に入ることを満足する動作軌道である
ことを特徴とするロボット制御プログラム。 - ロボットのエンドエフェクタを始点から終点まで移動させて、位置および姿勢が固定されていない対象物体に対して予め設定されたタスクを実行するロボット制御方法であって、
前記対象物体が取り得る複数の位置および姿勢の組の各々に対応して、参照軌道および分岐点を記憶部に記憶するステップと、
前記タスクの実行時に、前記対象物体の位置および姿勢を計測するステップと、
計測された前記対象物体の位置および姿勢に対応する前記参照軌道および前記分岐点を前記記憶部から取得し、計測された前記対象物体の位置および姿勢を前記終点に設定し、取得された前記参照軌道を使用して前記始点から前記分岐点までの前記ロボットの動作軌道である第1の動作軌道を生成し、取得された前記分岐点から前記終点までの前記ロボットの動作軌道である第2の動作軌道を第1の演算を行って生成するステップと、
前記第1の動作軌道および前記第2の動作軌道を含む動作指令に従って前記ロボットを駆動制御するステップと、
を備え、
前記参照軌道は、前記始点から、前記対象物体が取り得る複数の位置および姿勢の組のうちの一つである第1点までの前記ロボットの動作軌道であって、障害物との干渉を回避でき、かつ評価値が第一の範囲に入ることを満足する動作軌道であり、
前記分岐点は、前記参照軌道上の一点であって、前記分岐点から前記第1点までの動作軌道の前記評価値が前記第一の範囲より広い第二の範囲に入ることを満足する動作軌道である
ことを特徴とするロボット制御方法。
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CN116997441A (zh) | 2023-11-03 |
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