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SI3476550T1 - Robotski sistem, krmilnik robota in postopek za umik robota - Google Patents

Robotski sistem, krmilnik robota in postopek za umik robota

Info

Publication number
SI3476550T1
SI3476550T1 SI201830818T SI201830818T SI3476550T1 SI 3476550 T1 SI3476550 T1 SI 3476550T1 SI 201830818 T SI201830818 T SI 201830818T SI 201830818 T SI201830818 T SI 201830818T SI 3476550 T1 SI3476550 T1 SI 3476550T1
Authority
SI
Slovenia
Prior art keywords
robot
withdrawing
controller
robot system
robot controller
Prior art date
Application number
SI201830818T
Other languages
English (en)
Inventor
Tamio Nakamura
Tetsuro Izumi
Takashi Nishimura
Shohei Ohno
Original Assignee
Kabushiki Kaisha Yaskawa Denki, 2-1
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kabushiki Kaisha Yaskawa Denki, 2-1 filed Critical Kabushiki Kaisha Yaskawa Denki, 2-1
Publication of SI3476550T1 publication Critical patent/SI3476550T1/sl

Links

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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—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
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • G05B2219/40202—Human robot coexistence
    • 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
    • G05B2219/40559—Collision between hand and workpiece, operator
    • 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
    • G05B2219/40582—Force sensor in robot fixture, base

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
SI201830818T 2017-10-31 2018-09-26 Robotski sistem, krmilnik robota in postopek za umik robota SI3476550T1 (sl)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017210865A JP6690626B2 (ja) 2017-10-31 2017-10-31 ロボットシステムおよびロボットの退避方法
EP18196844.7A EP3476550B1 (en) 2017-10-31 2018-09-26 Robot system, robot controller, and method for withdrawing robot

Publications (1)

Publication Number Publication Date
SI3476550T1 true SI3476550T1 (sl) 2023-01-31

Family

ID=63685694

Family Applications (1)

Application Number Title Priority Date Filing Date
SI201830818T SI3476550T1 (sl) 2017-10-31 2018-09-26 Robotski sistem, krmilnik robota in postopek za umik robota

Country Status (5)

Country Link
US (1) US11192244B2 (sl)
EP (1) EP3476550B1 (sl)
JP (1) JP6690626B2 (sl)
CN (1) CN109719702B (sl)
SI (1) SI3476550T1 (sl)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10058395B2 (en) 2014-08-01 2018-08-28 Intuitive Surgical Operations, Inc. Active and semi-active damping in a telesurgical system
JP7135437B2 (ja) * 2018-05-22 2022-09-13 セイコーエプソン株式会社 ロボットシステムの制御方法及びロボットシステム
JP2020163548A (ja) * 2019-03-29 2020-10-08 セイコーエプソン株式会社 水平多関節ロボットおよびロボットシステム
JP6881525B2 (ja) * 2019-08-23 2021-06-02 株式会社安川電機 ロボットシステム、コントローラ及び制御方法
EP4074473A1 (en) * 2021-02-10 2022-10-19 Canon Kabushiki Kaisha System, manufacturing method, controlling method, program, and recording medium
CN117377561B (zh) 2021-09-08 2025-01-10 三菱电机株式会社 机器人控制装置
US20250050502A1 (en) 2021-11-29 2025-02-13 Kyocera Corporation Robot control apparatus, robot control system, and robot control method
CN114310915B (zh) * 2022-02-16 2022-09-09 哈尔滨工业大学 基于视觉反馈的空间机械臂对接末端工具轨迹规划方法
JPWO2024143487A1 (sl) 2022-12-28 2024-07-04
WO2024143483A1 (ja) 2022-12-28 2024-07-04 京セラ株式会社 制御システム

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* Cited by examiner, † Cited by third party
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JPH0276691A (ja) * 1988-09-09 1990-03-16 Daikin Ind Ltd 産業用ロボットにおける動作停止方法およびその装置
JP3327205B2 (ja) * 1998-03-30 2002-09-24 松下電器産業株式会社 ロボットの制御方法および装置
JP4281286B2 (ja) * 2002-03-18 2009-06-17 ソニー株式会社 ロボット装置及びその制御方法
JP3615539B2 (ja) * 2002-10-11 2005-02-02 ソニー株式会社 ロボット装置の動作制御装置及び動作制御方法、並びにロボット装置の遠隔操作装置及び遠隔操作方法
KR101296220B1 (ko) * 2005-12-30 2013-08-13 인튜어티브 서지컬 인코포레이티드 모듈식 힘센서
JP5593968B2 (ja) * 2010-03-04 2014-09-24 株式会社デンソーウェーブ ロボットシステム
JP2012051042A (ja) 2010-08-31 2012-03-15 Yaskawa Electric Corp ロボットシステム及びロボット制御装置
US8650965B2 (en) 2010-08-31 2014-02-18 Kabushiki Kaisha Yaskawa Denki Robot, robot system, robot control device, and state determining method
CN103718120A (zh) * 2011-07-27 2014-04-09 Abb技术有限公司 用于命令机器人的系统
JP6100727B2 (ja) * 2014-04-09 2017-03-22 ファナック株式会社 リードスルー機能を有する人協調型産業用ロボット
JP5893665B2 (ja) * 2014-04-14 2016-03-23 ファナック株式会社 作用された力に応じて移動されるロボットを制御するロボット制御装置
JP6193816B2 (ja) * 2014-06-20 2017-09-06 ファナック株式会社 アームの退避機能を有する多関節ロボット
DE102014114234B4 (de) * 2014-09-30 2020-06-25 Kastanienbaum GmbH Verfahren und Vorrichtung zur Steuerung/Regelung eines Roboter-Manipulators
JP5937706B1 (ja) * 2015-01-21 2016-06-22 ファナック株式会社 ロボットに加わる外力に基づいてロボットを制御するロボット制御装置、およびロボットシステム
US20160214261A1 (en) * 2015-01-22 2016-07-28 GM Global Technology Operations LLC Collaborative robot system and method
JP6034895B2 (ja) * 2015-02-20 2016-11-30 ファナック株式会社 外力に応じてロボットを退避動作させる人間協調ロボットシステム
JP6055002B2 (ja) * 2015-02-20 2016-12-27 ファナック株式会社 ロボットを退避動作させる人間協調ロボットシステム
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JP6733239B2 (ja) * 2016-03-18 2020-07-29 セイコーエプソン株式会社 制御装置及びロボットシステム
WO2018053349A1 (en) * 2016-09-16 2018-03-22 Verb Surgical Inc. Robotic arms

Also Published As

Publication number Publication date
US11192244B2 (en) 2021-12-07
EP3476550B1 (en) 2022-10-19
JP6690626B2 (ja) 2020-04-28
US20190126476A1 (en) 2019-05-02
CN109719702B (zh) 2022-05-31
JP2019081234A (ja) 2019-05-30
CN109719702A (zh) 2019-05-07
EP3476550A1 (en) 2019-05-01

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