JP7064458B2 - ロボットの制御方法 - Google Patents
ロボットの制御方法 Download PDFInfo
- Publication number
- JP7064458B2 JP7064458B2 JP2019028492A JP2019028492A JP7064458B2 JP 7064458 B2 JP7064458 B2 JP 7064458B2 JP 2019028492 A JP2019028492 A JP 2019028492A JP 2019028492 A JP2019028492 A JP 2019028492A JP 7064458 B2 JP7064458 B2 JP 7064458B2
- Authority
- JP
- Japan
- Prior art keywords
- end effector
- robot
- sensor
- approach
- person
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Description
3 アーム 4 エンドエフェクター
5 作業者 6 物
7 物体 8 認識センサー
9 接近センサー 10 移動機構
11 動作センサー 12 コントローラー
Claims (1)
- ロボットの可動範囲内の人や物などの物体とロボットのアームの先端に設けられたエンドエフェクターとの干渉を回避するロボットの制御方法において、
物体の位置を認識するための認識センサーとエンドエフェクターと物体との接近を検出するための接近センサーをコントローラーに接続し、エンドエフェクターに接近センサーを移動機構を介して設け、コントローラーは、認識センサーで物体を認識するとともに、認識センサーの検出値に基づいて移動機構を駆動制御し、接近センサーの検出値に基づいてエンドエフェクターの動作を制御することを特徴とするロボットの制御方法。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019028492A JP7064458B2 (ja) | 2019-02-20 | 2019-02-20 | ロボットの制御方法 |
JP2021053700A JP2021100785A (ja) | 2019-02-20 | 2021-03-26 | ロボットの制御方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019028492A JP7064458B2 (ja) | 2019-02-20 | 2019-02-20 | ロボットの制御方法 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021053700A Division JP2021100785A (ja) | 2019-02-20 | 2021-03-26 | ロボットの制御方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020131369A JP2020131369A (ja) | 2020-08-31 |
JP7064458B2 true JP7064458B2 (ja) | 2022-05-10 |
Family
ID=72277397
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019028492A Active JP7064458B2 (ja) | 2019-02-20 | 2019-02-20 | ロボットの制御方法 |
JP2021053700A Pending JP2021100785A (ja) | 2019-02-20 | 2021-03-26 | ロボットの制御方法 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021053700A Pending JP2021100785A (ja) | 2019-02-20 | 2021-03-26 | ロボットの制御方法 |
Country Status (1)
Country | Link |
---|---|
JP (2) | JP7064458B2 (ja) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014148027A (ja) | 2013-02-04 | 2014-08-21 | Seiko Epson Corp | 警報装置 |
JP2018103345A (ja) | 2016-12-28 | 2018-07-05 | 川崎重工業株式会社 | ロボットシステム |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5882696A (ja) * | 1981-11-13 | 1983-05-18 | 株式会社日立製作所 | ロボツトの異物体との衝突防止方法 |
JPH07241790A (ja) * | 1994-03-08 | 1995-09-19 | Fujitsu Ltd | ロボットの衝突防止方法 |
JP2006043792A (ja) * | 2004-08-02 | 2006-02-16 | Yaskawa Electric Corp | 衝突防止機能付ロボット |
JP4654053B2 (ja) * | 2005-02-28 | 2011-03-16 | 株式会社ユーシン精機 | 成形品の取出装置 |
JP2006256494A (ja) * | 2005-03-17 | 2006-09-28 | Advics:Kk | 車両用走行支援装置 |
JP5370127B2 (ja) * | 2009-12-18 | 2013-12-18 | 株式会社デンソーウェーブ | ロボットの干渉回避装置 |
DE102010063208A1 (de) * | 2010-12-16 | 2012-06-21 | Robert Bosch Gmbh | Verfahren zum Betreiben einer Sicherungseinrichtung für eine Handhabungsvorrichtung, Sicherungseinrichtung für eine Handhabungsvorrichtung und Handhabungsvorrichtung |
JP5945968B2 (ja) * | 2013-09-03 | 2016-07-05 | 株式会社安川電機 | ロボットハンド、ロボットシステム、及び物品のデパレタイズ方法 |
-
2019
- 2019-02-20 JP JP2019028492A patent/JP7064458B2/ja active Active
-
2021
- 2021-03-26 JP JP2021053700A patent/JP2021100785A/ja active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014148027A (ja) | 2013-02-04 | 2014-08-21 | Seiko Epson Corp | 警報装置 |
JP2018103345A (ja) | 2016-12-28 | 2018-07-05 | 川崎重工業株式会社 | ロボットシステム |
Also Published As
Publication number | Publication date |
---|---|
JP2021100785A (ja) | 2021-07-08 |
JP2020131369A (ja) | 2020-08-31 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11207777B2 (en) | Robot controlling device and automatic assembling system | |
US10423154B2 (en) | Robot system including force-controlled pushing device | |
US11014240B2 (en) | Robot having dynamic safety zones | |
JP4550849B2 (ja) | アーム搭載移動ロボット | |
TWI611883B (zh) | 產業用遠端操作機器人系統 | |
US11065767B2 (en) | Object manipulation apparatus and object manipulation method for automatic machine that picks up and manipulates an object | |
US9579798B2 (en) | Human collaborative robot system | |
US10065316B2 (en) | Systems and methods for safe robot operation | |
US10759056B2 (en) | Control unit for articulated robot | |
US11534918B2 (en) | Device and method for controlling cooperative robot | |
US10603798B2 (en) | Robot | |
JP2009123045A (ja) | 移動ロボット及び移動ロボットの危険範囲の表示方法 | |
KR102418451B1 (ko) | 로봇 제어 시스템 | |
JP7206638B2 (ja) | ロボット、制御装置およびロボットの制御方法 | |
JP2010120139A (ja) | 産業用ロボットの安全制御装置 | |
JP7462195B2 (ja) | ロボット干渉判定装置、ロボット干渉判定方法、ロボット制御装置、ロボット制御システム、人動作予測装置、および人動作予測方法 | |
WO2009155947A1 (en) | Control system and method for control | |
CN108942880A (zh) | 机器人*** | |
KR102357168B1 (ko) | 인공신경망을 이용한 로봇 매니퓰레이터의 충돌을 감지하는 방법 및 시스템 | |
US20160176049A1 (en) | Method and Manipulator Assembly for the Conditional Stopping of at Least One Manipulator on a Path | |
US10780579B2 (en) | Work robot system | |
US20200171662A1 (en) | Monitor system for robot and robot system | |
JP7036399B2 (ja) | 自律移動ロボット、並びに、その制御装置及び動作制御プログラム | |
KR102139229B1 (ko) | 인공신경망을 이용한 로봇 매니퓰레이터의 충돌을 감지하는 방법 및 시스템 | |
JP2017177321A (ja) | 制御装置及びロボットシステム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20200120 |
|
A871 | Explanation of circumstances concerning accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A871 Effective date: 20200120 |
|
A975 | Report on accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A971005 Effective date: 20200401 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200407 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200602 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200901 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20201029 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20210119 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210326 |
|
C60 | Trial request (containing other claim documents, opposition documents) |
Free format text: JAPANESE INTERMEDIATE CODE: C60 Effective date: 20210326 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20210405 |
|
C21 | Notice of transfer of a case for reconsideration by examiners before appeal proceedings |
Free format text: JAPANESE INTERMEDIATE CODE: C21 Effective date: 20210406 |
|
A912 | Re-examination (zenchi) completed and case transferred to appeal board |
Free format text: JAPANESE INTERMEDIATE CODE: A912 Effective date: 20210514 |
|
C211 | Notice of termination of reconsideration by examiners before appeal proceedings |
Free format text: JAPANESE INTERMEDIATE CODE: C211 Effective date: 20210518 |
|
C22 | Notice of designation (change) of administrative judge |
Free format text: JAPANESE INTERMEDIATE CODE: C22 Effective date: 20210907 |
|
C13 | Notice of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: C13 Effective date: 20211214 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220210 |
|
C23 | Notice of termination of proceedings |
Free format text: JAPANESE INTERMEDIATE CODE: C23 Effective date: 20220308 |
|
C03 | Trial/appeal decision taken |
Free format text: JAPANESE INTERMEDIATE CODE: C03 Effective date: 20220412 |
|
C30A | Notification sent |
Free format text: JAPANESE INTERMEDIATE CODE: C3012 Effective date: 20220412 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220422 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7064458 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |