WO2022131172A1 - 指令値補正装置及びロボットシステム - Google Patents
指令値補正装置及びロボットシステム Download PDFInfo
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- WO2022131172A1 WO2022131172A1 PCT/JP2021/045662 JP2021045662W WO2022131172A1 WO 2022131172 A1 WO2022131172 A1 WO 2022131172A1 JP 2021045662 W JP2021045662 W JP 2021045662W WO 2022131172 A1 WO2022131172 A1 WO 2022131172A1
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- Prior art keywords
- command value
- support
- model
- robot
- correction device
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- 238000012937 correction Methods 0.000 title claims abstract description 67
- 230000005489 elastic deformation Effects 0.000 claims abstract description 46
- 238000004364 calculation method Methods 0.000 claims abstract description 31
- 230000036544 posture Effects 0.000 claims description 34
- 238000005259 measurement Methods 0.000 claims description 21
- 238000012986 modification Methods 0.000 claims description 8
- 230000004048 modification Effects 0.000 claims description 8
- 238000013459 approach Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 16
- 230000008569 process Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- 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
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming 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
- G05B2219/39182—Compensation for base, floor deformation
-
- 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
- G05B2219/40582—Force sensor in robot fixture, base
Definitions
- the present invention relates to a command value correction device and a robot system.
- a workpiece, a tool, etc. using an articulated robot formed by connecting a plurality of nodes (links) by joints having a drive shaft and configured to determine the angle of the drive shaft according to a command value.
- Systems for positioning objects are widely used.
- the posture (position and orientation) of an object is calculated from the length of a node and the angle of an axis.
- an error may occur between the calculated posture of the object and the actual posture of the object.
- the support such as the floor, beams, and pedestal to which the robot is fixed also bends, which may cause a positioning error of the object.
- the command value correction device is a command value correction device that corrects a command value for instructing the posture of an articulated robot that positions the tip of an arm having a plurality of joints, and is the articulated robot.
- a robot model setting unit that sets a robot model that represents an elastically deformable model
- a support model setting unit that sets a support model that represents a support to which the articulated robot is fixed by an elastically deformable model
- a support model setting unit that calculates the force acting on the support based on the weight of the articulated robot when the posture of the articulated robot follows the command value before correction, and the support body based on the force calculated by the force calculation unit. It is provided with a correction unit that corrects the command value so as to cancel the support model elastic deformation amount which is the elastic deformation of the model.
- the positioning error of the robot can be reduced.
- FIG. 1 is a schematic diagram showing a configuration of a robot system 1 according to an embodiment of the present invention.
- the robot system 1 includes an articulated robot 10, a support 20, a robot control device 30, a command value correction device 40, and a three-dimensional measuring device 50.
- the articulated robot 10 As the articulated robot 10, a vertical articulated robot is typically used, but a horizontal articulated robot may be used. Specifically, the articulated robot 10 has an arm 11 having a plurality of articulated nodes (links) and a plurality of drive axes that determine relative angles between adjacent nodes, and the position of the tip portion 12 of the arm 11. And position to determine the orientation.
- links articulated nodes
- drive axes that determine relative angles between adjacent nodes
- the articulated robot 10 holds the object W at the tip portion 12 and is used to position the object W.
- Examples of the object W include cutting tools, laser heads, inspection devices, workpieces (articles to be machined, inspected, etc.) and the like.
- the articulated robot 10 is usually controlled in a positioning operation in a robot coordinate system set with reference to a proximal end portion 13 fixed to a support 20.
- the position of the tip portion 12 is calculated by the shape of each node in design and the angular position in control of the drive shaft due to the elastic deformation of each node and the elastic deformation of the internal mechanism of the drive shaft. It can cause a positioning error that deviates from the upper position.
- the support 20 supports the articulated robot 10, and may be composed of, for example, a floor, a pillar, a beam, a concrete foundation, a pedestal, or a combination thereof, and may further include a connecting tool such as a bolt.
- a reference support point 21 is set on the support 20 as a position for supporting the articulated robot 10. As a specific example, the reference support point 21 can be the center point of the contact surface with the base end portion 13 of the articulated robot 10.
- the support 20 is slightly elastically deformed in response to the movement of the articulated robot 10 and moves the reference support point 21 with reference to an immovable point in the world coordinate system, which is an absolute position for positioning the object W. And its orientation can be changed.
- the world coordinate system is, for example, a coordinate system in which a workpiece to be cut by the object W is fixed when the object W is a cutting tool.
- the position and orientation of the tip portion 12 of the articulated robot 10 cannot be ignored because the entire articulated robot 10 is tilted. Can be varied to some extent.
- the robot control device 30 has a program storage unit 31 that stores an operation program that specifies the operation of the articulated robot 10, and a robot control device 30 for positioning the tip portion 12 of the articulated robot 10 according to the operation program stored in the program storage unit 31. It is a well-known component that produces command values that specify the required angular position of each drive shaft.
- the robot control device 30 may be configured by causing a computer having, for example, a memory, a CPU, an input / output interface, and the like to execute an appropriate control program.
- the command value correction device 40 corrects the command value generated by the robot control device 30 so as to compensate for the positioning error due to the elastic deformation of the articulated robot 10 and the support 20. That is, in the robot system 1, the articulated robot 10 operates according to the command value corrected by the command value correction device 40 after being generated by the robot control device 30.
- the command value correction device 40 itself is an embodiment of the command value correction device according to the present invention.
- the command value correction device 40 may be configured by causing a computer having, for example, a memory, a CPU, an input / output interface, or the like to execute an appropriate control program.
- the command value correction device 40 may be configured by an independent computer, but is usually configured integrally with the robot control device 30. That is, the command value correction device 40 can be realized as one function of the computer constituting the robot control device 30.
- the robot control device 30, the command value correction device 40, and their respective components are categorized in their functions and may not be clearly distinguishable in the program configuration and the physical configuration.
- the command value correction device 40 includes a robot model setting unit 41, a support model setting unit 42, an initial value input unit 43, a force calculation unit 44, a correction unit 45, a deformation amount acquisition unit 46, a support model correction unit 47, and a measurement posture. It has a command unit 48 and a robot model correction unit 49.
- the robot model setting unit 41 connects the articulated robot 10 with a plurality of links (sections) L1, L2, L3, L4, L5 and adjacent links L1, L2, L3, L4, L5.
- a robot model Mr represented by a plurality of joints (joints) J1, J2, J3, J4, J5, J6 to be connected is set.
- the robot model Mr can be set by a well-known method such as the DH (Denavit and Hartenberg) method.
- the links L1, L2, L3, L4 and L5 are bendable springs, and the joints J1, J2, J3, J4, J5 and J6 are torsionally deformable springs.
- the robot model Mr can be preset for each product of the articulated robot 10 as a standard specification of the command value correction device 40.
- the support model setting unit 42 sets the support model Ms in which the support 20 to which the articulated robot 10 is fixed is represented by an elastically deformable model.
- the support model Ms can be represented as a single spring, as shown in FIG.
- the support model Ms has a plurality of springs having at least one node that moves or rotates in a direction parallel to the force acting on the support 20. It may be expressed as a combination of. That is, the support model Ms can be a model including a spring that is compressed or tensilely deformed and a spring that is flexed and deformed.
- the support model Ms is defined as a link connected from the origin P0 of the robot coordinate system in which the articulated robot 10 operates. In addition to the origin P0, it has three nodes P1, P2, and P3 that are set in order from the origin P0.
- the positions of the nodes P1, P2, and P3 are defined by the coordinates in the robot coordinate system of the articulated robot 10. More specifically, the positions and orientations of the nodes P1, P2, and P3 are specified in the XYZWPR format in the robot coordinate system, and the spring constants in each axial direction of the link to the previous node are set. There is.
- the support model Ms can be individually set for each robot system 1 by a system administrator or the like at the time of system installation.
- the support model setting unit 42 may define the support model Ms as a reference table that specifies a representative value of the elastic deformation amount of the support 20 for each division of the force acting on the support 20. ..
- the support model Ms is a reference table that associates the magnitude of the moment of the force acting on the origin P0 with the amount of elastic deformation, that is, the amount of movement of the theoretical tip portion 12 before and after the correction of the command value. May be.
- the initial value input unit 43 inputs the initial values of the parameters of the error model as illustrated in FIG. 3 to the support model setting unit 42.
- the initial value input unit 43 may accept an input from an input device such as a keyboard, but may be configured to read an initial value of an error model created by an external computer C.
- the computer C is not particularly limited, but a general-purpose personal computer, a tablet computer, or the like is assumed.
- the offline simulation software that can be executed by the computer C for creating the model of the support 20, it becomes possible to construct the error model relatively easily and accurately.
- the robot control device 30 and the command value correction device 40 are integrally configured, that is, the command value correction device is added to the conventional robot control device. It becomes easy to add 40 functions.
- the force calculation unit 44 calculates the force acting on the support 20 when the articulated robot 10 takes a posture according to the command value before correction. More specifically, when the articulated robot 10 is stationary in a posture according to a command value, the weight of the articulated robot 10 and the support 20 acts on the nodes P0, and thus the nodes P1, P2, P3 of the support model Ms. Calculate the rotational force, that is, the moment of force. Further, the force calculation unit 44 may calculate the translational force (compression / tensile force) acting on the nodes P0, P1, P2, P3. Further, it is preferable that the force calculation unit 44 individually calculates the force acting on each joint J1, J2, J3, J4, J5, J6 of the robot model Mr.
- the correction unit 45 corrects the command value input from the robot control device 30 so as to cancel the elastic deformation of the support model Ms due to the force calculated by the force calculation unit 44. It is preferable that the correction unit 45 corrects the command value input from the robot control device 30 so as to cancel not only the support model Ms but also the elastic deformation of the robot model Mr.
- the correction unit 45 can be configured to include a robot deformation calculation unit, a support deformation calculation unit, an error calculation unit, and a command value re-creation unit.
- the robot deformation calculation unit describes the elasticity of the links L1, L2, L3, L4, L5 and the joints J1, J2, J3, J4, J5, J6 of the robot model Mr when the posture of the articulated robot 10 follows the command value before correction. Calculate the amount of deformation.
- the amount of elastic deformation of the robot model Mr is calculated by a well-known method, but is typically based on the force acting on each joint J1, J2, J3, J4, J5, J6 calculated by the force calculation unit 44. It is calculated.
- the support deformation calculation unit calculates the elastic deformation amount of the support model Ms (also referred to as "support model elastic deformation amount”) due to the force calculated by the force calculation unit 44. That is, the support deformation calculation unit has P1, P2 due to elastic deformation from the force acting on P1, P2, P3 calculated by the force calculation unit 44 and the spring constant between the nodes set in the support model setting unit 42. , The movement amount of P3 is calculated, respectively, and the change in the position and orientation of the origin P0 as a result is calculated.
- the error calculation unit is based on the elastic deformation amount of the support model Ms calculated by the support deformation calculation unit and the elastic deformation amount of the robot model Mr. calculated by the robot deformation calculation unit. Calculate the positioning error.
- the command value recreating unit creates a command value that specifies the posture of the articulated robot 10 in a state where the tip portion 12 is moved in the opposite direction by the same distance as the positioning error calculated by the error calculation unit. By inputting the corrected command value to the articulated robot 10, the positioning error of the tip portion 12 can be reduced.
- the deformation amount acquisition unit 46 acquires the actual elastic deformation amount (also referred to as “actual elastic deformation amount”) of the support 20.
- the deformation amount acquisition unit 46 is a reference point of the support 20 measured by the three-dimensional measuring device 50 (a measurable point whose relative position with respect to the reference support point 21 does not actually change) or articulated. It may be configured to specify the actual elastic deformation amount of the support 20 based on the relative position of the tip portion 12 of the robot 10 with respect to an immovable point in the world coordinate system.
- the acquisition of the actual elastic deformation amount of the support 20 based on the position of the tip portion 12 of the articulated robot 10 takes into consideration the actual position of the tip portion 12 measured by the three-dimensional measuring device 50 and the robot model Mr.
- To calculate the estimated value of the actual elastic deformation amount of the support 20 assuming that the deviation from the theoretical position of the tip portion 12 calculated from the command value is caused only by the error of the support model Ms. Can be done at. While the initial values of the parameters of the robot model Mr of the mass-produced articulated robot 10 have a relatively small error, the initial values of the parameters of the support model Ms of the support 20 having different designs individually have a relatively small error. It tends to grow.
- the elastic deformation amount of the support 20 calculated from the actual position of the tip portion 12 is theoretically calculated by the initially set support model Ms. It is considered that the value is closer to the actual elastic deformation amount of the support 20 than the elastic deformation amount.
- the support model correction unit 47 is a support model elastic deformation amount calculated by the support deformation calculation unit based on a command value input to the articulated robot 10 when the deformation amount acquisition unit 46 actually acquires the elastic deformation amount.
- the parameter of the support model Ms is modified so as to approach the actual elastic deformation amount acquired by the deformation amount acquisition unit 46.
- the measurement posture command unit 48 generates a plurality of measurement command values that cause the articulated robot 10 to take different measurement postures that apply a constant torque to the support 20.
- the articulated robot 10 By causing the articulated robot 10 to take a plurality of measurement postures having the same amount of elastic deformation of the support 20, it is possible to confirm the positioning error of the tip portion 12 due to the elastic deformation of the articulated robot 10.
- the elastic deformation of the articulated robot 10 can be confirmed by the measurement command value, and at the same time, the actual elastic deformation amount of the support 20 can be calculated.
- the robot model correction unit 49 confirms the positioning error of the tip portion 12 of the articulated robot 10 based on the position of the tip portion 12 in the state where the articulated robot 10 is in a posture according to the measurement command value, and the robot model Mr. Modify the parameters of. This makes it possible to more accurately modify the support model Ms when the support model Ms is modified based on the position of the tip portion 12 of the articulated robot 10.
- the three-dimensional measuring device 50 is arranged so as to be immovable in the world coordinate system, that is, the position does not change depending on the posture of the articulated robot 10, and the tip portion 12 and the support of the articulated robot 10 with respect to its own position. It may be provided to measure at least one relative position of the reference point of the body 20. Further, the three-dimensional measuring device 50 is immovably arranged with respect to the reference point of the support 20 or the tip portion 12 of the articulated robot 10, and is a relative position of the measuring point immovably provided in the world coordinate system with respect to its own position. May be provided to measure.
- FIG. 4 shows a procedure for correcting a command value by the command value correction device 40.
- the correction of the command value includes a model acquisition step (step S11), a force calculation step (step S12), and a command value correction step (step S13).
- the robot model Mr set by the robot model setting unit 41 and the support model Ms set by the support model setting unit 42 are acquired, that is, the work memory of the computer constituting the robot control device 30. Read into.
- step S12 when the articulated robot 10 takes a posture according to the command value before correction in the robot model Mr and the support model Ms by the force calculation unit 44, the articulated robot 10 and the support are due to gravity. The moment of the force acting on 20 is calculated.
- the position of the tip portion 12 calculated by the robot model Mr and the support model Ms is the position of the tip portion 12 intended by the command value before correction, that is, the articulated robot 10 and the support.
- the command value is corrected so that the position of the tip portion 12 does not consider the elastic deformation of 20.
- FIG. 5 shows a procedure for modifying the robot model Mr and the support model Ms by the command value correction device 40.
- Modification of the robot model Mr and the support model Ms includes a model acquisition process (step S21), a measurement command value input process (step S22), a force calculation process (step S23), a positioning position measurement process (step S24), and a measurement posture end.
- the confirmation step (step S25) and the model modification step (step S26) are included.
- step S21 the robot model Mr set by the robot model setting unit 41 and the support model Ms set by the support model setting unit 42 are acquired.
- the measurement posture command unit 48 inputs the measurement command to the articulated robot 10 to cause the articulated robot 10 to take the measurement posture.
- step S23 the moment of the force acting in the measurement posture specified in step S22 is calculated.
- step S24 the position of the tip portion 12 of the articulated robot 10 in the measuring posture specified in step S22 is measured by the three-dimensional measuring device 50.
- step S25 it is confirmed whether or not the steps of steps S22 to S24 have been performed for all the preset measurement postures.
- the process of steps S22 to S24 is repeated until the processing for all the measuring postures is completed, and when the processing for all the measuring postures is completed, the process proceeds to step S26.
- the robot model Mr and the support model Ms are based on the combination of the theoretical position and the measured position of the position of the tip portion 12 calculated by the robot model Mr and the support model Ms in each measurement posture.
- the parameters of the robot model Mr and the support model Ms are modified so that the theoretical position of the position of the tip portion 12 calculated by the above method approaches the actually measured position.
- the robot system 1 includes a support model setting unit 42 for setting the support model Ms, and supports according to the posture of the articulated robot 10 in order to correct the command value using the support model Ms.
- the tip portion 12 can be accurately positioned by compensating for the elastic deformation of the body 20.
- the robot system 1 includes a support model correction unit 47 that corrects the support model Ms based on the elastic deformation amount acquired by the deformation amount acquisition unit 46, the elastic deformation amount of the support 20 is accurately predicted. Therefore, the tip portion 12 can be positioned more accurately.
- the robot system and the command value correction device may not have a configuration related to modification of the support model or modification of the robot model.
- the procedure for modifying the robot model and the support model is not limited to the above procedure, and other algorithms may be used.
- the modification of the support model and the modification of the robot model may be performed independently. Therefore, the acquisition of the elastic deformation amount for modifying the support model and the acquisition of the elastic deformation amount for modifying the robot model may be performed in different postures.
- Robot system Articulated robot 20 Support 30 Robot control device 40 Command value correction device 50 Three-dimensional measuring device 11 Arm 12 Tip part 41 Robot model setting unit 42 Support model setting unit 43 Initial value input unit 44 Force calculation unit 45 Correction unit 46 Deformation amount acquisition unit 47 Support model correction unit 48 Measurement posture command unit 49 Robot model correction unit
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Abstract
Description
10 多関節ロボット
20 支持体
30 ロボット制御装置
40 指令値補正装置
50 三次元測定装置
11 アーム
12 先端部
41 ロボットモデル設定部
42 支持体モデル設定部
43 初期値入力部
44 力算出部
45 補正部
46 変形量取得部
47 支持体モデル修正部
48 計測姿勢指令部
49 ロボットモデル修正部
Claims (10)
- 複数の関節を有するアームの先端部を位置決めする多関節ロボットの姿勢を指示する指令値を補正する指令値補正装置であって、
前記多関節ロボットを弾性変形可能なモデルで表すロボットモデルを設定するロボットモデル設定部と、
前記多関節ロボットが固定される支持体を弾性変形可能なモデルで表す支持体モデルを設定する支持体モデル設定部と、
前記多関節ロボットの姿勢が補正前の前記指令値に従う場合に前記多関節ロボットの重量により前記支持体に作用する力を算出する力算出部と、
前記力算出部が算出した力による前記支持体モデルの弾性変形である支持体モデル弾性変形量を相殺するよう前記指令値を補正する補正部と、
を備える、指令値補正装置。 - 前記支持体の実際の弾性変形量である実際弾性変形量を取得する変形量取得部と、
前記変形量取得部が前記実際弾性変形量を取得したときに前記多関節ロボットに入力した前記指令値に基づいて算出される前記支持体モデル弾性変形量を前記変形量取得部が取得した前記実際弾性変形量に近付けるよう、前記支持体モデルのパラメータを修正するモデル修正部と、
をさらに備える、請求項1に記載の指令値補正装置。 - 前記変形量取得部は、前記支持体の基準点のワールド座標系において不動な点に対する相対位置を取得するよう設けられる、請求項2に記載の指令値補正装置。
- 前記変形量取得部は、前記先端部のワールド座標系において不動な点に対する相対位置を取得するよう設けられる、請求項2に記載の指令値補正装置。
- 前記支持体に一定のトルクを作用させる異なる姿勢を前記多関節ロボットに取らせる複数の計測指令値を生成する計測姿勢指令部をさらに備える、請求項4に記載の指令値補正装置。
- 前記支持体モデルは、前記支持体に作用する力の区分ごとに前記支持体モデル弾性変形量の代表値を特定する参照テーブルとして定義される、請求項1から5のいずれかに記載の指令値補正装置。
- 前記支持体モデルは、前記支持体に作用する力と平行な方向に移動又は回転する少なくとも1つの節点を有する、請求項1から6のいずれかに記載の指令値補正装置。
- 前記支持体モデル設定部に、前記支持体モデルのパラメータの初期値を入力する初期値入力部をさらに備える、請求項1から7のいずれかに記載の指令値補正装置。
- 前記初期値入力部は、外部のコンピュータで作成された前記パラメータの初期値を読み込む請求項8に記載の指令値補正装置。
- 請求項1から9のいずれかに記載の指令値補正装置と、
前記指令値補正装置にプログラムに従う指令値を入力するロボット制御装置と、
前記指令値補正装置によって補正された指令値に従って動作する多関節ロボットと、
を備える、ロボットシステム。
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US18/248,439 US20230364793A1 (en) | 2020-12-16 | 2021-12-10 | Command value correction device and robot system |
CN202180083058.5A CN116669910A (zh) | 2020-12-16 | 2021-12-10 | 指令值校正装置以及机器人*** |
DE112021004704.3T DE112021004704T5 (de) | 2020-12-16 | 2021-12-10 | Befehlswert-Korrekturvorrichtung und Robotersystem |
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DE (1) | DE112021004704T5 (ja) |
TW (1) | TW202224874A (ja) |
WO (1) | WO2022131172A1 (ja) |
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JPH09123075A (ja) * | 1995-11-02 | 1997-05-13 | Kobe Steel Ltd | リンク機構を有する機械の制御方法及びその装置 |
JP2010529910A (ja) * | 2007-06-15 | 2010-09-02 | コミシリア ア レネルジ アトミック | ロボットなどの多関節システムの位置を較正する方法 |
JP2010231575A (ja) * | 2009-03-27 | 2010-10-14 | Kobe Steel Ltd | ロボットのオフライン教示装置、ロボットのオフライン教示方法、及びロボットシステム |
US20150100156A1 (en) * | 2012-06-26 | 2015-04-09 | Ingvar Jonsson | Adjusting Parameters Of A Dynamical Robot Model |
JP2017024142A (ja) * | 2015-07-27 | 2017-02-02 | ファナック株式会社 | 支持体の弾性変形を補償するロボット制御装置 |
JP2020168669A (ja) * | 2019-04-01 | 2020-10-15 | ファナック株式会社 | ロボットを制御するための機構誤差パラメータを較正する較正装置 |
Family Cites Families (1)
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JP3808321B2 (ja) | 2001-04-16 | 2006-08-09 | ファナック株式会社 | ロボット制御装置 |
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2021
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- 2021-12-10 JP JP2022569956A patent/JPWO2022131172A1/ja active Pending
- 2021-12-10 CN CN202180083058.5A patent/CN116669910A/zh active Pending
- 2021-12-10 DE DE112021004704.3T patent/DE112021004704T5/de active Pending
- 2021-12-10 WO PCT/JP2021/045662 patent/WO2022131172A1/ja active Application Filing
- 2021-12-10 US US18/248,439 patent/US20230364793A1/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH09123075A (ja) * | 1995-11-02 | 1997-05-13 | Kobe Steel Ltd | リンク機構を有する機械の制御方法及びその装置 |
JP2010529910A (ja) * | 2007-06-15 | 2010-09-02 | コミシリア ア レネルジ アトミック | ロボットなどの多関節システムの位置を較正する方法 |
JP2010231575A (ja) * | 2009-03-27 | 2010-10-14 | Kobe Steel Ltd | ロボットのオフライン教示装置、ロボットのオフライン教示方法、及びロボットシステム |
US20150100156A1 (en) * | 2012-06-26 | 2015-04-09 | Ingvar Jonsson | Adjusting Parameters Of A Dynamical Robot Model |
JP2017024142A (ja) * | 2015-07-27 | 2017-02-02 | ファナック株式会社 | 支持体の弾性変形を補償するロボット制御装置 |
JP2020168669A (ja) * | 2019-04-01 | 2020-10-15 | ファナック株式会社 | ロボットを制御するための機構誤差パラメータを較正する較正装置 |
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TW202224874A (zh) | 2022-07-01 |
US20230364793A1 (en) | 2023-11-16 |
DE112021004704T5 (de) | 2023-06-29 |
CN116669910A (zh) | 2023-08-29 |
JPWO2022131172A1 (ja) | 2022-06-23 |
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