TW202019640A - 減速機系統、對驅動單元之指令值之修正方法、修正資料之產生方法、及減速機系統之製造方法 - Google Patents

減速機系統、對驅動單元之指令值之修正方法、修正資料之產生方法、及減速機系統之製造方法 Download PDF

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Publication number
TW202019640A
TW202019640A TW108139858A TW108139858A TW202019640A TW 202019640 A TW202019640 A TW 202019640A TW 108139858 A TW108139858 A TW 108139858A TW 108139858 A TW108139858 A TW 108139858A TW 202019640 A TW202019640 A TW 202019640A
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TW
Taiwan
Prior art keywords
correction data
reducer
robot
reduction gear
drive unit
Prior art date
Application number
TW108139858A
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English (en)
Chinese (zh)
Inventor
櫻井和彦
Original Assignee
日商納博特斯克股份有限公司
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Publication date
Application filed by 日商納博特斯克股份有限公司 filed Critical 日商納博特斯克股份有限公司
Publication of TW202019640A publication Critical patent/TW202019640A/zh

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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
    • B25J9/1628—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
    • B25J9/1628—Programme controls characterised by the control loop
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
TW108139858A 2018-11-05 2019-11-04 減速機系統、對驅動單元之指令值之修正方法、修正資料之產生方法、及減速機系統之製造方法 TW202019640A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-208375 2018-11-05
JP2018208375A JP7185495B2 (ja) 2018-11-05 2018-11-05 減速機システム、駆動ユニットへの指令値の補正方法、補正データの生成方法、及び減速機システムの製造方法

Publications (1)

Publication Number Publication Date
TW202019640A true TW202019640A (zh) 2020-06-01

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
TW108139858A TW202019640A (zh) 2018-11-05 2019-11-04 減速機系統、對驅動單元之指令值之修正方法、修正資料之產生方法、及減速機系統之製造方法

Country Status (5)

Country Link
JP (1) JP7185495B2 (ko)
KR (1) KR20200051485A (ko)
CN (1) CN111136652A (ko)
DE (1) DE102019216974A1 (ko)
TW (1) TW202019640A (ko)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7494239B2 (ja) 2022-03-18 2024-06-03 Ｌｉｎｅヤフー株式会社 提供装置、提供方法および提供プログラム
CN114372732A (zh) * 2022-03-22 2022-04-19 杭州杰牌传动科技有限公司 实现用户需求智能匹配的减速电机协同制造方法和***
DE102022119591B4 (de) 2022-08-04 2024-03-21 Wittenstein Se Verfahren zur Bereitstellung von Antriebsdaten und Computersystem

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01210643A (ja) * 1988-02-15 1989-08-24 Teijin Seiki Co Ltd 遊星差動型減速機の制御装置
JPH07100781A (ja) * 1993-10-05 1995-04-18 Ricoh Co Ltd 多関節型ロボット
JP2001113488A (ja) 1999-10-15 2001-04-24 Mitsubishi Electric Corp 産業用ロボット
JP2003223225A (ja) 2002-01-30 2003-08-08 Harmonic Drive Syst Ind Co Ltd 位置決めシステム
JP2010120110A (ja) * 2008-11-19 2010-06-03 Daihen Corp 減速機の伝達誤差補正量算出方法およびロボット制御装置
JP2011212823A (ja) 2010-04-02 2011-10-27 Yaskawa Electric Corp ロボットアーム位置補正パラメータの同定装置及び方法、並びにそれを用いたロボットコントローラ及びロボット制御方法
JP5488494B2 (ja) * 2011-02-23 2014-05-14 株式会社安川電機 ロボットシステム
DE102014110413B4 (de) 2014-07-23 2016-05-25 Kastanienbaum GmbH Gelenkverbindung für einen Roboter mit Drehmomentwelligkeit reduziertem Antrieb
JP6700669B2 (ja) * 2015-04-07 2020-05-27 キヤノン株式会社 制御方法、ロボット装置、プログラム、記録媒体、及び物品の製造方法
JP6576824B2 (ja) 2015-12-25 2019-09-18 株式会社ダイヘン ロボット制御装置

Also Published As

Publication number Publication date
JP2020075304A (ja) 2020-05-21
CN111136652A (zh) 2020-05-12
DE102019216974A1 (de) 2020-05-07
JP7185495B2 (ja) 2022-12-07
KR20200051485A (ko) 2020-05-13

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