WO2004052598A1 - ロボット制御装置 - Google Patents
ロボット制御装置 Download PDFInfo
- Publication number
- WO2004052598A1 WO2004052598A1 PCT/JP2003/015834 JP0315834W WO2004052598A1 WO 2004052598 A1 WO2004052598 A1 WO 2004052598A1 JP 0315834 W JP0315834 W JP 0315834W WO 2004052598 A1 WO2004052598 A1 WO 2004052598A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- control
- recognition
- planning
- data
- data transfer
- 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
- B25J9/1694—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
- B25J9/1697—Vision controlled systems
-
- 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
- G05B2219/39543—Recognize object and plan hand shapes in grasping movements
-
- 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
- G05B2219/40609—Camera to monitor end effector as well as object to be handled
Definitions
- the route selecting means controls the priority of data transfer based on the priority data embedded in the transfer data.
- a pot control device is provided.
- the route selecting means includes a storage means for taking a temporal buffer between the operation control means and the recognition / planning means,
- the hand effector 48 a moves from the initial position to the rectangular parallelepiped object 90 to move it to a rectangular parallelepiped.
- the trajectory for grasping the object 90 by the hand effector 48a and the trajectory for transporting the grasped rectangular parallelepiped object 90 to a predetermined position by the hand effector 48a, for example, polynomial interpolation Generate using
- the target trajectory data generated by the recognition 'planning means 6 is in the form of the position of the hand effector 48 a of the manipulator 48 at each time (hand position) ⁇ attitude and the speed of the movement of the hand effector 48 a a angular velocity And is transferred to the route selection means 2 from the serial port 54 as serial data.
- step S 14 of FIG. 6 the position relating to the tip unit position Sa Ichibo compensation input value base vector u p is using Equation (1) below, it is calculated by the operation control means 5.
- the fourth dispersion control device 1d controls the movement of the moving port bot 55 by driving the two left and right wheels 58, 58.
- the movement control block, the fifth distributed control device 1e is a recognition block that takes in information from the camera / sensor 59 and recognizes the external situation.
- the second distributed control device 1b is connected to the route selecting device 2b connected to the route selecting device 2a of the first distributed control device 1a and the route selecting device 2b as the right arm control block, and
- the input / output interface 4b connected to the drive device of the right arm 57 (for example, a motor (not shown) incorporated in each joint of the right arm 57 that functions as a manipulator) and the route selection means 2b
- a process for motion control (for example, calculation of real time for controlling the motion of the right arm 57) is composed of motion control means 5b executed by a single task, and is performed by the motion control means 5b.
- the process for controlling the operation of the right arm 57 is executed in a single task to control the operation of the right arm 57.
- ⁇ ⁇ is the torque coefficient matrix
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/538,770 US7415321B2 (en) | 2002-12-12 | 2003-12-11 | Robot controller |
JP2004558467A JP3751309B2 (ja) | 2002-12-12 | 2003-12-11 | ロボット制御装置 |
AU2003289022A AU2003289022A1 (en) | 2002-12-12 | 2003-12-11 | Robot control device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002-360804 | 2002-12-12 | ||
JP2002360804 | 2002-12-12 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004052598A1 true WO2004052598A1 (ja) | 2004-06-24 |
Family
ID=32501005
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/015834 WO2004052598A1 (ja) | 2002-12-12 | 2003-12-11 | ロボット制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7415321B2 (ja) |
JP (1) | JP3751309B2 (ja) |
CN (1) | CN100348383C (ja) |
AU (1) | AU2003289022A1 (ja) |
WO (1) | WO2004052598A1 (ja) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006130580A (ja) * | 2004-11-02 | 2006-05-25 | Toyota Motor Corp | ロボットによる任意形状物体の把持方法 |
JP2006159399A (ja) * | 2004-11-12 | 2006-06-22 | Yaskawa Electric Corp | 作業用移動ロボット |
JP2006221238A (ja) * | 2005-02-08 | 2006-08-24 | Denso Corp | 駆動制御装置及び駆動制御方法 |
US8452449B2 (en) | 2009-07-06 | 2013-05-28 | Seiko Epson Corporation | Position control method and robot |
US8600552B2 (en) | 2009-10-30 | 2013-12-03 | Honda Motor Co., Ltd. | Information processing method, apparatus, and computer readable medium |
US9975240B2 (en) | 2013-11-01 | 2018-05-22 | Seiko Epson Corporation | Robot, controller, and robot system |
JP2021528259A (ja) * | 2018-06-26 | 2021-10-21 | テラダイン、 インコーポレイテッド | ロボットビンピッキングのためのシステム及び方法 |
Families Citing this family (91)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4837844B2 (ja) * | 2001-07-19 | 2011-12-14 | 富士通株式会社 | シミュレーションシステム、方法、プログラム及び記録媒体 |
DE10314025B4 (de) * | 2003-03-28 | 2010-04-01 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Steuern einer Mehrzahl von Handhabungsgeräten |
EP1571584A1 (en) * | 2004-03-03 | 2005-09-07 | Honda Research Institute Europe GmbH | Integrating visual and object information in a pervasive computing environment |
JP4129442B2 (ja) * | 2004-03-24 | 2008-08-06 | 株式会社東芝 | 移動装置システム |
US7640076B2 (en) * | 2004-10-29 | 2009-12-29 | Bradley Darrel Olson | Remote control rover configured for viewing and manipulating objects |
US7649912B2 (en) * | 2005-04-27 | 2010-01-19 | Rockwell Automation Technologies, Inc. | Time synchronization, deterministic data delivery and redundancy for cascaded nodes on full duplex ethernet networks |
EP1719588A1 (en) * | 2005-05-02 | 2006-11-08 | Abb Research Ltd. | A robot control system comprising a portable operating device with safety equipment |
US7860609B2 (en) * | 2005-05-06 | 2010-12-28 | Fanuc Robotics America, Inc. | Robot multi-arm control system |
US7860614B1 (en) * | 2005-09-13 | 2010-12-28 | The United States Of America As Represented By The Secretary Of The Army | Trainer for robotic vehicle |
US9794533B2 (en) | 2006-01-31 | 2017-10-17 | Andrew Flessas | Robotically controlled entertainment elements |
US8356704B2 (en) | 2006-01-31 | 2013-01-22 | Andrew Flessas | Robotically controlled entertainment elements |
JP4056080B2 (ja) * | 2006-01-13 | 2008-03-05 | 松下電器産業株式会社 | ロボットアームの制御装置 |
US11284048B2 (en) | 2006-01-31 | 2022-03-22 | Andrew Flessas | Robotically controlled display |
US20100145512A1 (en) * | 2006-01-31 | 2010-06-10 | Andy Flessas | Method and system for transmitting robot control instructions |
US20070205910A1 (en) * | 2006-02-22 | 2007-09-06 | Parker-Hannifin Corporation | Wireless motion control system |
US9094082B1 (en) * | 2012-03-29 | 2015-07-28 | The United States Of America As Represented By The Secretary Of The Navy | System and method for remotely-operated deployment and retrieval of communication relays |
EP2099672B1 (en) | 2006-11-13 | 2011-08-31 | Raytheon Company | Tracked robotic crawler having a moveable arm |
EP2081814B1 (en) * | 2006-11-13 | 2011-04-06 | Raytheon Company | Conformable track assembly for a robotic crawler |
ATE473907T1 (de) | 2006-11-13 | 2010-07-15 | Raytheon Sarcos Llc | Vielseitig verwendbares endlosband für leichte mobile roboter |
EP1972416B1 (en) * | 2007-03-23 | 2018-04-25 | Honda Research Institute Europe GmbH | Robots with occlusion avoidance functionality |
EP1972415B1 (en) * | 2007-03-23 | 2019-01-02 | Honda Research Institute Europe GmbH | Robots with collision avoidance functionality |
EP1974869A1 (en) * | 2007-03-26 | 2008-10-01 | Honda Research Institute Europe GmbH | Apparatus and method for generating and controlling the motion of a robot |
EP2144659A1 (en) | 2007-05-07 | 2010-01-20 | Raytheon Sarcos, LLC | Method for manufacturing a complex structure |
CN101784435B (zh) | 2007-07-10 | 2013-08-28 | 雷神萨科斯公司 | 模块化机器人履带车 |
DE102007052673A1 (de) * | 2007-11-05 | 2009-05-07 | Kuka Roboter Gmbh | Rechensystem und Verfahren zum Verwalten verfügbarer Ressourcen eines insbesondere für eine Steuerung eines Industrieroboters vorgesehenen Rechensystems |
US20090306825A1 (en) * | 2008-04-21 | 2009-12-10 | Ying Li | Manipulation system and method |
KR101479233B1 (ko) * | 2008-05-13 | 2015-01-05 | 삼성전자 주식회사 | 로봇 및 그 협조작업 제어방법 |
US8095239B2 (en) * | 2008-09-29 | 2012-01-10 | North End Technologies, Inc | Method and apparatus for controlling the motion of a robotic device |
US8437875B2 (en) * | 2008-10-27 | 2013-05-07 | Eusebio Guillermo Hernandez | Outdoor home cleaning robot |
US8392036B2 (en) | 2009-01-08 | 2013-03-05 | Raytheon Company | Point and go navigation system and method |
US20100246893A1 (en) * | 2009-03-26 | 2010-09-30 | Ashwin Dani | Method and Apparatus for Nonlinear Dynamic Estimation of Feature Depth Using Calibrated Moving Cameras |
EP2440448B1 (en) | 2009-06-11 | 2015-09-30 | Sarcos LC | Amphibious robotic crawler |
WO2010144813A1 (en) | 2009-06-11 | 2010-12-16 | Raytheon Sarcos, Llc | Method and system for deploying a surveillance network |
WO2011023203A1 (en) * | 2009-08-24 | 2011-03-03 | Abb Technology Ag | Improved execution of real time applications with an automation controller |
EP2540456A1 (en) | 2009-08-27 | 2013-01-02 | ABB Research Ltd. | Robotic picking of parts from a parts holding bin |
US8731815B2 (en) * | 2009-09-18 | 2014-05-20 | Charles Arnold Cummings | Holistic cybernetic vehicle control |
CN102470531B (zh) * | 2010-01-04 | 2016-01-20 | 松下知识产权经营株式会社 | 机器人、机器人的控制装置及控制方法 |
FI20105732A0 (fi) * | 2010-06-24 | 2010-06-24 | Zenrobotics Oy | Menetelmä fyysisten kappaleiden valitsemiseksi robottijärjestelmässä |
JP5685027B2 (ja) | 2010-09-07 | 2015-03-18 | キヤノン株式会社 | 情報処理装置、物体把持システム、ロボットシステム、情報処理方法、物体把持方法およびプログラム |
FI20106090A0 (fi) * | 2010-10-21 | 2010-10-21 | Zenrobotics Oy | Menetelmä kohdeobjektin kuvien suodattamiseksi robottijärjestelmässä |
DE102010052394B4 (de) * | 2010-11-24 | 2019-01-03 | Kuka Roboter Gmbh | Robotersystem mit einem Roboter und zwei wechselweise mit diesem verbindbaren Einrichtungen sowie Verfahren zum Wechseln dieser Einrichtungen |
KR102015307B1 (ko) * | 2010-12-28 | 2019-08-28 | 삼성전자주식회사 | 로봇 및 그 제어 방법 |
US8818556B2 (en) | 2011-01-13 | 2014-08-26 | Microsoft Corporation | Multi-state model for robot and user interaction |
WO2012142587A1 (en) | 2011-04-15 | 2012-10-18 | Irobot Corporation | Method for path generation for an end effector of a robot |
TW201247373A (en) * | 2011-05-23 | 2012-12-01 | Hon Hai Prec Ind Co Ltd | System and method for adjusting mechanical arm |
US8868234B2 (en) * | 2011-07-01 | 2014-10-21 | GM Global Technology Operations LLC | Communication system and method |
JP2013111726A (ja) * | 2011-11-30 | 2013-06-10 | Sony Corp | ロボット装置及びその制御方法、並びにコンピューター・プログラム |
US9364925B2 (en) * | 2012-04-30 | 2016-06-14 | Globalfoundries Inc. | Assembly of electronic and optical devices |
US8393422B1 (en) | 2012-05-25 | 2013-03-12 | Raytheon Company | Serpentine robotic crawler |
US9031698B2 (en) | 2012-10-31 | 2015-05-12 | Sarcos Lc | Serpentine robotic crawler |
JP5754454B2 (ja) | 2013-03-18 | 2015-07-29 | 株式会社安川電機 | ロボットピッキングシステム及び被加工物の製造方法 |
US9114440B1 (en) * | 2013-05-02 | 2015-08-25 | Michael A. Colucci | Outdoor home cleaning robot—system and method |
BR112015028738A2 (pt) | 2013-05-17 | 2017-07-25 | Intelligrated Headquarters Llc | descarregador de embalagem robótico para descarregar uma pilha de embalagens |
US10807805B2 (en) | 2013-05-17 | 2020-10-20 | Intelligrated Headquarters, Llc | Robotic carton unloader |
US9650215B2 (en) | 2013-05-17 | 2017-05-16 | Intelligrated Headquarters Llc | Robotic carton unloader |
EP3038958B1 (en) * | 2013-08-28 | 2019-05-29 | Intelligrated Headquarters LLC | Robotic carton unloader |
US9409292B2 (en) | 2013-09-13 | 2016-08-09 | Sarcos Lc | Serpentine robotic crawler for performing dexterous operations |
JP6255901B2 (ja) * | 2013-10-30 | 2018-01-10 | セイコーエプソン株式会社 | ロボット制御装置、ロボットおよびロボットシステム |
US9566711B2 (en) | 2014-03-04 | 2017-02-14 | Sarcos Lc | Coordinated robotic control |
CN105313127A (zh) * | 2014-06-02 | 2016-02-10 | 精工爱普生株式会社 | 机器人、机器人的控制方法以及机器人的控制装置 |
WO2016004587A1 (zh) * | 2014-07-08 | 2016-01-14 | 北京航空航天大学 | 一种基于多核处理器架构的机器人混合***应用框架 |
US9823693B2 (en) | 2014-08-26 | 2017-11-21 | Andrew Flessas | Robotically controlled convertible display |
US9409294B1 (en) | 2015-03-05 | 2016-08-09 | Toyota Motor Engineering & Manufacturing North America, Inc. | Hierarchical geometric plan composition (HGPC) framework for robot task planning |
CN104999463B (zh) * | 2015-07-09 | 2017-03-01 | 哈尔滨工程大学 | 一种基于构形平面的冗余机械臂运动控制方法 |
WO2017033357A1 (ja) * | 2015-08-25 | 2017-03-02 | 川崎重工業株式会社 | ロボットシステム |
US10071303B2 (en) | 2015-08-26 | 2018-09-11 | Malibu Innovations, LLC | Mobilized cooler device with fork hanger assembly |
CN109074513B (zh) | 2016-03-03 | 2020-02-18 | 谷歌有限责任公司 | 用于机器人抓握的深度机器学习方法和装置 |
WO2017151926A1 (en) * | 2016-03-03 | 2017-09-08 | Google Inc. | Deep machine learning methods and apparatus for robotic grasping |
US20170313400A1 (en) * | 2016-04-27 | 2017-11-02 | Atlas Dynamic Limited | Collapsible unmanned aerial vehicle (uav) |
US10807659B2 (en) | 2016-05-27 | 2020-10-20 | Joseph L. Pikulski | Motorized platforms |
US10058997B1 (en) * | 2016-06-16 | 2018-08-28 | X Development Llc | Space extrapolation for robot task performance |
DE112017004070B4 (de) | 2016-09-14 | 2022-04-28 | Intelligrated Headquarters, Llc | Roboterkartonentlader |
US10597235B2 (en) | 2016-10-20 | 2020-03-24 | Intelligrated Headquarters, Llc | Carton unloader tool for jam recovery |
JP7166767B2 (ja) | 2017-05-25 | 2022-11-08 | キヤノン株式会社 | 機器、製造方法、およびシステム |
JP6915395B2 (ja) * | 2017-06-16 | 2021-08-04 | セイコーエプソン株式会社 | 制御装置、ロボットシステム、テーブル作成方法およびロボット制御方法 |
CN107571241A (zh) * | 2017-09-04 | 2018-01-12 | 深圳市超时空机器人有限公司 | 一种双臂机器人及其控制方法 |
EP3746270A4 (en) | 2018-02-01 | 2021-10-13 | ABB Schweiz AG | VISION-BASED OPERATION FOR ROBOTS |
US10780578B2 (en) * | 2018-02-22 | 2020-09-22 | Boston Dynamics, Inc. | Reaching mobile robots |
JP7267306B2 (ja) * | 2018-05-18 | 2023-05-01 | コリンダス、インコーポレイテッド | ロボット介入処置のための遠隔通信及び制御システム |
KR102371665B1 (ko) * | 2018-06-22 | 2022-03-08 | 모벤시스 주식회사 | 모션 제어 프로그램, 모션 제어 방법 및 모션 제어 장치 |
JP2020025992A (ja) * | 2018-08-09 | 2020-02-20 | 株式会社東芝 | 制御装置、制御方法、およびプログラム |
US11426864B2 (en) * | 2018-12-03 | 2022-08-30 | Kindred Systems Inc. | Robot manipulator system and methods for providing supplemental securement of objects |
JP7000361B2 (ja) * | 2019-01-24 | 2022-01-19 | ファナック株式会社 | 追随ロボットおよび作業ロボットシステム |
US11014237B2 (en) * | 2019-07-11 | 2021-05-25 | Intelligrated Headquarters, Llc | Methods, systems, and apparatuses, for path planning and execution in a robotic system |
WO2021040714A1 (en) | 2019-08-29 | 2021-03-04 | Flessas Andrew | Method and system for moving cameras using robotic mounts |
US11958183B2 (en) | 2019-09-19 | 2024-04-16 | The Research Foundation For The State University Of New York | Negotiation-based human-robot collaboration via augmented reality |
JP7451940B2 (ja) * | 2019-10-31 | 2024-03-19 | セイコーエプソン株式会社 | 制御方法および算出装置 |
CN111267984B (zh) * | 2020-01-21 | 2021-04-13 | 山东大学 | 基于高光谱技术分析的隧道内不良地质体识别***与方法 |
US11425308B2 (en) | 2020-12-02 | 2022-08-23 | Andrew Flessas | Robotically movable display synchronously movable with robotically movable camera for displaying captured images in identical orientation |
US11422632B1 (en) | 2021-08-27 | 2022-08-23 | Andrew Flessas | System and method for precise multi-dimensional movement of haptic stimulator |
CN117518997A (zh) * | 2024-01-04 | 2024-02-06 | 东北大学 | 一种飞机发动机自动装配路径规划方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03222542A (ja) * | 1990-01-26 | 1991-10-01 | Matsushita Electric Works Ltd | ネットワークの集線装置 |
JPH05503821A (ja) * | 1990-01-22 | 1993-06-17 | レンナートソン,ケント | 分散制御システムのための装置 |
JPH06290060A (ja) * | 1993-04-06 | 1994-10-18 | Honda Motor Co Ltd | マルチタスク制御システム |
JPH06334705A (ja) * | 1993-05-25 | 1994-12-02 | Yamaha Corp | 通信制御装置 |
JPH07312614A (ja) * | 1994-05-17 | 1995-11-28 | Brother Ind Ltd | データ伝送装置 |
JPH0936897A (ja) * | 1995-07-24 | 1997-02-07 | Toshiba Corp | Lan回線切替方式 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3851769A (en) * | 1971-04-09 | 1974-12-03 | Seiko Instr & Electronics | Industrial robot |
SE402540B (sv) * | 1976-08-13 | 1978-07-10 | Asea Ab | Forfarande och anordning for att vid en givarstyrd industrirobot astadkomma en approximativ transformation mellan givarens och robotarmens olika koordinatsystem for styrning av roboten inom ett forutbestemt ... |
CA1233222A (en) * | 1984-03-09 | 1988-02-23 | Nobuhiko Onda | Movable apparatus driving system |
US5956465A (en) * | 1996-04-04 | 1999-09-21 | Nissan Motor Co., Ltd. | Production facility with automatic movable body for man-machine cooperation |
JP2001334482A (ja) | 2000-03-24 | 2001-12-04 | Sony Corp | ロボット装置及びロボット装置の行動決定方法 |
CA2440344C (en) * | 2001-03-07 | 2007-06-26 | Carnegie Mellon University | Gas main robotic inspection system |
JP4305323B2 (ja) * | 2004-08-11 | 2009-07-29 | 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 |
-
2003
- 2003-12-11 WO PCT/JP2003/015834 patent/WO2004052598A1/ja active Application Filing
- 2003-12-11 AU AU2003289022A patent/AU2003289022A1/en not_active Abandoned
- 2003-12-11 CN CNB2003801059553A patent/CN100348383C/zh not_active Expired - Fee Related
- 2003-12-11 JP JP2004558467A patent/JP3751309B2/ja not_active Expired - Fee Related
- 2003-12-11 US US10/538,770 patent/US7415321B2/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05503821A (ja) * | 1990-01-22 | 1993-06-17 | レンナートソン,ケント | 分散制御システムのための装置 |
JPH03222542A (ja) * | 1990-01-26 | 1991-10-01 | Matsushita Electric Works Ltd | ネットワークの集線装置 |
JPH06290060A (ja) * | 1993-04-06 | 1994-10-18 | Honda Motor Co Ltd | マルチタスク制御システム |
JPH06334705A (ja) * | 1993-05-25 | 1994-12-02 | Yamaha Corp | 通信制御装置 |
JPH07312614A (ja) * | 1994-05-17 | 1995-11-28 | Brother Ind Ltd | データ伝送装置 |
JPH0936897A (ja) * | 1995-07-24 | 1997-02-07 | Toshiba Corp | Lan回線切替方式 |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006130580A (ja) * | 2004-11-02 | 2006-05-25 | Toyota Motor Corp | ロボットによる任意形状物体の把持方法 |
JP4591043B2 (ja) * | 2004-11-02 | 2010-12-01 | トヨタ自動車株式会社 | ロボットによる任意形状物体の把持方法 |
JP2006159399A (ja) * | 2004-11-12 | 2006-06-22 | Yaskawa Electric Corp | 作業用移動ロボット |
JP2006221238A (ja) * | 2005-02-08 | 2006-08-24 | Denso Corp | 駆動制御装置及び駆動制御方法 |
US8655488B2 (en) | 2009-07-06 | 2014-02-18 | Seiko Epson Corporation | Position control method and robot |
US8452449B2 (en) | 2009-07-06 | 2013-05-28 | Seiko Epson Corporation | Position control method and robot |
US9020638B2 (en) | 2009-07-06 | 2015-04-28 | Seiko Epson Corporation | Position control method and robot |
US9221173B2 (en) | 2009-07-06 | 2015-12-29 | Seiko Epson Corporation | Position control method and robot |
US8600552B2 (en) | 2009-10-30 | 2013-12-03 | Honda Motor Co., Ltd. | Information processing method, apparatus, and computer readable medium |
US9073210B2 (en) | 2009-10-30 | 2015-07-07 | Honda Motor Co., Ltd. | Information processing method, apparatus, and computer readable medium |
US9975240B2 (en) | 2013-11-01 | 2018-05-22 | Seiko Epson Corporation | Robot, controller, and robot system |
JP2021528259A (ja) * | 2018-06-26 | 2021-10-21 | テラダイン、 インコーポレイテッド | ロボットビンピッキングのためのシステム及び方法 |
JP7437326B2 (ja) | 2018-06-26 | 2024-02-22 | テラダイン、 インコーポレイテッド | ロボットビンピッキングの方法 |
Also Published As
Publication number | Publication date |
---|---|
US20060184272A1 (en) | 2006-08-17 |
CN1738699A (zh) | 2006-02-22 |
JP3751309B2 (ja) | 2006-03-01 |
AU2003289022A1 (en) | 2004-06-30 |
JPWO2004052598A1 (ja) | 2006-04-06 |
CN100348383C (zh) | 2007-11-14 |
US7415321B2 (en) | 2008-08-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2004052598A1 (ja) | ロボット制御装置 | |
US9862090B2 (en) | Surrogate: a body-dexterous mobile manipulation robot with a tracked base | |
CN101817182B (zh) | 一种智能移动机械臂控制*** | |
JP5114019B2 (ja) | エフェクタの軌道を制御するための方法 | |
US9950425B2 (en) | Robot control apparatus and robot system | |
CN110161900B (zh) | 一个远程操作的穿戴式遥控操作平台 | |
CN111230873A (zh) | 一种基于示教学习的协作搬运控制***及方法 | |
CN104175308A (zh) | 自主服务机器人 | |
JP2011079123A (ja) | ロボット関節のための統合高速トルク制御システム | |
CN109352661A (zh) | 一种机器人关节的控制方法、伺服驱动装置和可存储介质 | |
Marinho et al. | Manipulator control based on the dual quaternion framework for intuitive teleoperation using kinect | |
Markdahl et al. | Distributed cooperative object attitude manipulation | |
JP4480010B2 (ja) | 分散制御システム | |
US11656923B2 (en) | Systems and methods for inter-process communication within a robot | |
JP2002036155A (ja) | ロボットのエンドエフェクタ | |
CN115302523A (zh) | 智能分拣机器人、控制方法及其机械臂逆解运算方法 | |
CN114800505A (zh) | 一种机器人作业控制方法及装置 | |
Chen et al. | Visually guided coordination for distributed precision assembly | |
US20210053228A1 (en) | Coordination system, handling device, and method | |
CN113021344A (zh) | 一种主从异构型遥操作机器人工作空间映射方法 | |
Reis et al. | Kinematic modeling and control design of a multifingered robot hand | |
JP2019038059A (ja) | ロボットシステム | |
TWI834991B (zh) | 可控裝置的移動路徑的控制方法及其控制系統 | |
US20240091962A1 (en) | Robotic Gripping Device for Grasping Handles and Objects | |
Music et al. | Human-Multi-Robot Teleoperation for Cooperative Manipulation Tasks using Wearable Haptic Devices |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2004558467 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2006184272 Country of ref document: US Ref document number: 10538770 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 20038A59553 Country of ref document: CN |
|
122 | Ep: pct application non-entry in european phase | ||
WWP | Wipo information: published in national office |
Ref document number: 10538770 Country of ref document: US |