CN116997441A - 机器人控制装置、机器人控制程序及机器人控制方法 - Google Patents
机器人控制装置、机器人控制程序及机器人控制方法 Download PDFInfo
- Publication number
- CN116997441A CN116997441A CN202180093362.8A CN202180093362A CN116997441A CN 116997441 A CN116997441 A CN 116997441A CN 202180093362 A CN202180093362 A CN 202180093362A CN 116997441 A CN116997441 A CN 116997441A
- Authority
- CN
- China
- Prior art keywords
- point
- target object
- robot
- trajectory
- track
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 56
- 238000011156 evaluation Methods 0.000 claims description 60
- 230000036544 posture Effects 0.000 claims description 54
- 238000003860 storage Methods 0.000 claims description 38
- 239000012636 effector Substances 0.000 claims description 20
- 230000009471 action Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 8
- 239000000284 extract Substances 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 33
- 230000008859 change Effects 0.000 description 11
- 230000002093 peripheral effect Effects 0.000 description 9
- 230000001133 acceleration Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 230000002787 reinforcement Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000010187 selection method Methods 0.000 description 1
Classifications
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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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2021/012254 WO2022201362A1 (ja) | 2021-03-24 | 2021-03-24 | 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 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN116997441A true CN116997441A (zh) | 2023-11-03 |
Family
ID=83396544
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202180093362.8A Pending CN116997441A (zh) | 2021-03-24 | 2021-03-24 | 机器人控制装置、机器人控制程序及机器人控制方法 |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP7438453B2 (ja) |
CN (1) | CN116997441A (ja) |
DE (1) | DE112021007395T5 (ja) |
WO (1) | WO2022201362A1 (ja) |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003103481A (ja) | 2001-09-28 | 2003-04-08 | Honda Motor Co Ltd | 多関節ロボットの姿勢適正化方法および適正化装置 |
JP4984576B2 (ja) * | 2006-03-08 | 2012-07-25 | トヨタ自動車株式会社 | ロボットハンドによる把持制御方法 |
JP5724919B2 (ja) | 2012-03-22 | 2015-05-27 | トヨタ自動車株式会社 | 軌道生成装置、移動体、軌道生成方法及びプログラム |
JP6807949B2 (ja) | 2016-11-16 | 2021-01-06 | 三菱電機株式会社 | 干渉回避装置 |
EP3578322A4 (en) | 2017-01-31 | 2020-08-26 | Kabushiki Kaisha Yaskawa Denki | ROBOT PATH GENERATING DEVICE AND ROBOT SYSTEM |
-
2021
- 2021-03-24 CN CN202180093362.8A patent/CN116997441A/zh active Pending
- 2021-03-24 JP JP2023508261A patent/JP7438453B2/ja active Active
- 2021-03-24 DE DE112021007395.8T patent/DE112021007395T5/de active Pending
- 2021-03-24 WO PCT/JP2021/012254 patent/WO2022201362A1/ja active Application Filing
Also Published As
Publication number | Publication date |
---|---|
WO2022201362A1 (ja) | 2022-09-29 |
JPWO2022201362A1 (ja) | 2022-09-29 |
JP7438453B2 (ja) | 2024-02-26 |
DE112021007395T5 (de) | 2024-03-21 |
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