SG11201506524XA - Force control robot and method for controlling same - Google Patents
Force control robot and method for controlling sameInfo
- Publication number
- SG11201506524XA SG11201506524XA SG11201506524XA SG11201506524XA SG11201506524XA SG 11201506524X A SG11201506524X A SG 11201506524XA SG 11201506524X A SG11201506524X A SG 11201506524XA SG 11201506524X A SG11201506524X A SG 11201506524XA SG 11201506524X A SG11201506524X A SG 11201506524XA
- Authority
- SG
- Singapore
- Prior art keywords
- force control
- control robot
- controlling same
- controlling
- same
- Prior art date
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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39322—Force and position control
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39529—Force, torque sensor in wrist, end effector
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
- Y10S901/09—Closed loop, sensor feedback controls arm movement
- Y10S901/10—Sensor physically contacts and follows work contour
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013031271 | 2013-02-20 | ||
PCT/JP2014/053975 WO2014129524A1 (en) | 2013-02-20 | 2014-02-20 | Force control robot and method for controlling same |
Publications (1)
Publication Number | Publication Date |
---|---|
SG11201506524XA true SG11201506524XA (en) | 2015-09-29 |
Family
ID=51391308
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SG11201506524XA SG11201506524XA (en) | 2013-02-20 | 2014-02-20 | Force control robot and method for controlling same |
Country Status (5)
Country | Link |
---|---|
US (1) | US9815194B2 (en) |
JP (1) | JP5979618B2 (en) |
GB (1) | GB2525355B (en) |
SG (1) | SG11201506524XA (en) |
WO (1) | WO2014129524A1 (en) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5860021B2 (en) * | 2013-10-24 | 2016-02-16 | ファナック株式会社 | Fastening device, robot system, and fastening method for fastening a plurality of fastening members |
EP3083160A4 (en) * | 2013-12-17 | 2017-08-23 | Syddansk Universitet | Device for dynamic switching of robot control points |
JP6661925B2 (en) * | 2015-09-07 | 2020-03-11 | セイコーエプソン株式会社 | Control devices, robots and robot systems |
US10391712B2 (en) * | 2016-02-18 | 2019-08-27 | Xerox Corporation | System and method for automated cleaning of parts produced by a three-dimensional object printer |
CN108312152B (en) * | 2018-01-30 | 2020-05-05 | 贵阳鑫恒泰实业有限公司 | Mechanical arm automatic stamping system based on forward and reverse rotation circuit |
JP6708675B2 (en) | 2018-02-22 | 2020-06-10 | ファナック株式会社 | robot |
DE102019202827A1 (en) * | 2018-04-25 | 2019-10-31 | Deere & Company | CONTROL OF MOBILE MACHINES WITH A ROBOTIC ATTACHMENT |
KR102252765B1 (en) * | 2018-11-20 | 2021-05-18 | 한국생산기술연구원 | Precision machining device using robot arm and its operation method |
CN109927028A (en) * | 2019-03-26 | 2019-06-25 | 中国科学院宁波材料技术与工程研究所 | A kind of force-location mix control method of power man-controlled mobile robot polishing processing |
CN110103245B (en) * | 2019-06-06 | 2022-02-18 | 哈尔滨工业大学 | Automatic chamfering tool for robot |
CN112757307B (en) * | 2019-11-05 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Equipment and method for machining ternary impeller blade welding groove by robot |
WO2021094055A1 (en) * | 2019-11-12 | 2021-05-20 | Kistler Holding Ag | Cutting machine having a force sensor, method for operating a cutting machine of this type, and method for calibrating the force sensor of a cutting machine of this type |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0780119B2 (en) * | 1984-07-31 | 1995-08-30 | 株式会社ノリタケカンパニ− リミテド | Grinding machine |
JPS6311264A (en) * | 1986-06-30 | 1988-01-18 | Daiwa Shoji:Kk | Plate surface machining device |
JPH07266269A (en) | 1994-03-25 | 1995-10-17 | Hitachi Metals Ltd | Machining method using force control of robot |
JP3342969B2 (en) | 1994-10-21 | 2002-11-11 | 東芝機械株式会社 | Force control robot |
JPH08118278A (en) | 1994-10-25 | 1996-05-14 | Toshiba Corp | Force-controlled robot |
JP3552082B2 (en) * | 1997-09-08 | 2004-08-11 | 豊田工機株式会社 | Drilling machine for work |
JP2004291157A (en) * | 2003-03-27 | 2004-10-21 | Jfe Ferrite Corp | Surface grinding apparatus and machining method using the same |
JP2009166076A (en) * | 2008-01-15 | 2009-07-30 | Kobe Steel Ltd | Welding robot |
JP5593899B2 (en) | 2010-07-12 | 2014-09-24 | 株式会社Ihi | Deburring method by robot |
JP5765557B2 (en) * | 2011-02-28 | 2015-08-19 | 株式会社Ihi | Trajectory tracking device and method for machining robot |
-
2014
- 2014-02-20 WO PCT/JP2014/053975 patent/WO2014129524A1/en active Application Filing
- 2014-02-20 GB GB201514611A patent/GB2525355B/en active Active
- 2014-02-20 JP JP2015501485A patent/JP5979618B2/en active Active
- 2014-02-20 SG SG11201506524XA patent/SG11201506524XA/en unknown
-
2015
- 2015-08-20 US US14/831,153 patent/US9815194B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
GB201514611D0 (en) | 2015-09-30 |
WO2014129524A1 (en) | 2014-08-28 |
US20150352716A1 (en) | 2015-12-10 |
US9815194B2 (en) | 2017-11-14 |
JP5979618B2 (en) | 2016-08-24 |
JPWO2014129524A1 (en) | 2017-02-02 |
GB2525355A (en) | 2015-10-21 |
GB2525355B (en) | 2020-01-01 |
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