[go: up one dir, main page]

CN113391597A - 控制器系统以及其控制方法 - Google Patents

控制器系统以及其控制方法 Download PDF

Info

Publication number
CN113391597A
CN113391597A CN202110152920.5A CN202110152920A CN113391597A CN 113391597 A CN113391597 A CN 113391597A CN 202110152920 A CN202110152920 A CN 202110152920A CN 113391597 A CN113391597 A CN 113391597A
Authority
CN
China
Prior art keywords
point
passage
passing
vector
ith
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.)
Pending
Application number
CN202110152920.5A
Other languages
English (en)
Chinese (zh)
Inventor
森野宏次
坂田晃一
小林优大
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Omron Corp
Original Assignee
Omron Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Omron Corp filed Critical Omron Corp
Publication of CN113391597A publication Critical patent/CN113391597A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position Or Direction (AREA)
  • Manipulator (AREA)
CN202110152920.5A 2020-03-11 2021-02-04 控制器系统以及其控制方法 Pending CN113391597A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020042302A JP6863497B1 (ja) 2020-03-11 2020-03-11 コントローラシステムおよびその制御方法
JP2020-042302 2020-03-11

Publications (1)

Publication Number Publication Date
CN113391597A true CN113391597A (zh) 2021-09-14

Family

ID=75520945

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110152920.5A Pending CN113391597A (zh) 2020-03-11 2021-02-04 控制器系统以及其控制方法

Country Status (2)

Country Link
JP (1) JP6863497B1 (ja)
CN (1) CN113391597A (ja)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10198811A (ja) * 1997-01-07 1998-07-31 Fuji Xerox Co Ltd ３次ベジェ曲線の線分近似方法
JPH11104982A (ja) * 1997-10-01 1999-04-20 Meidensha Corp ロボットの教示方法
US20060015247A1 (en) * 2004-07-07 2006-01-19 The Boeing Company Bezier curve flightpath guidance using moving waypoints
CN102393678A (zh) * 2011-08-25 2012-03-28 沈阳高精数控技术有限公司 适用于五轴数控装置的轨迹平滑处理方法
CN103180791A (zh) * 2010-10-13 2013-06-26 欧姆龙株式会社 控制装置、控制系统及控制方法
CN103793933A (zh) * 2012-11-02 2014-05-14 同济大学 虚拟人体动画的运动路径生成方法
CN103970139A (zh) * 2014-05-09 2014-08-06 上海交通大学 一种机器人连续点位运动规划方法及其运动控制器
CN105269556A (zh) * 2015-09-20 2016-01-27 深圳市得意自动化科技有限公司 机器人的运动前瞻方法
CN106180931A (zh) * 2015-05-29 2016-12-07 发那科株式会社 线切割放电加工机用数值控制装置
US20170089707A1 (en) * 2014-06-03 2017-03-30 Here Global B.V. Trail interpolation

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62192807A (ja) * 1986-02-20 1987-08-24 Fujitsu Ltd ロボツト制御方式
JP3366213B2 (ja) * 1997-02-26 2003-01-14 三菱電機株式会社 曲線の微小線分化方法およびスプライン補間機能を有する数値制御装置
US6424890B1 (en) * 2000-11-30 2002-07-23 Nokia Mobile Phones, Ltd. Method and apparatus for satellite orbit interpolation using piecewise hermite interpolating polynomials
JP2011096077A (ja) * 2009-10-30 2011-05-12 Makino Milling Mach Co Ltd 工具経路の生成方法及び装置
JP2014137750A (ja) * 2013-01-17 2014-07-28 Hitachi Solutions Ltd 情報処理装置、情報処理システム及び情報処理プログラム
JP5800888B2 (ja) * 2013-12-24 2015-10-28 ファナック株式会社 テーブル形式データによる運転でのスムージング機能を備えた数値制御装置
CN109596136B (zh) * 2018-12-21 2020-07-07 广东嘉腾机器人自动化有限公司 基于Hermite插值路径生成方法、插入路径生成方法及存储装置

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10198811A (ja) * 1997-01-07 1998-07-31 Fuji Xerox Co Ltd ３次ベジェ曲線の線分近似方法
JPH11104982A (ja) * 1997-10-01 1999-04-20 Meidensha Corp ロボットの教示方法
US20060015247A1 (en) * 2004-07-07 2006-01-19 The Boeing Company Bezier curve flightpath guidance using moving waypoints
CN103180791A (zh) * 2010-10-13 2013-06-26 欧姆龙株式会社 控制装置、控制系统及控制方法
CN102393678A (zh) * 2011-08-25 2012-03-28 沈阳高精数控技术有限公司 适用于五轴数控装置的轨迹平滑处理方法
CN103793933A (zh) * 2012-11-02 2014-05-14 同济大学 虚拟人体动画的运动路径生成方法
CN103970139A (zh) * 2014-05-09 2014-08-06 上海交通大学 一种机器人连续点位运动规划方法及其运动控制器
US20170089707A1 (en) * 2014-06-03 2017-03-30 Here Global B.V. Trail interpolation
CN106180931A (zh) * 2015-05-29 2016-12-07 发那科株式会社 线切割放电加工机用数值控制装置
CN105269556A (zh) * 2015-09-20 2016-01-27 深圳市得意自动化科技有限公司 机器人的运动前瞻方法

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
CEM YUSEL, SCOTT SCHAEFER, JOHN KEYSER: "ON the parameter of catmull-rom curves", 2009 SIAM/ACM JOINT CONFERENCE ON GEOMETRIC AND PHYSICAL MODLING, 31 December 2009 (2009-12-31), pages 47 - 53 *
周建龙，肖春: "计算机图形学理论与OpenGL编程实践", 31 July 2007, 华南理工大学出版社, pages: 157 - 159 *
黄建: "数控加工空间运动平滑路径的规划", 中国优秀硕士学位论文全文数据库, no. 04, 15 April 2014 (2014-04-15), pages 022 - 292 *

Also Published As

Publication number Publication date
JP2021144437A (ja) 2021-09-24
JP6863497B1 (ja) 2021-04-21

Similar Documents

Publication Publication Date Title
JP7222803B2 (ja) 軌道計画装置、軌道計画方法及びプログラム
EP1769891B1 (en) Offline teaching apparatus for robot
US20180126557A1 (en) Method for industrial robot commissioning, industrial robot system and control system using the same
CN113379849A (zh) 基于深度相机的机器人自主识别智能抓取方法及系统
CN105291101A (zh) 机器人、机器人系统以及控制装置
JP2019188477A (ja) ロボットの動作教示装置、ロボットシステムおよびロボット制御装置
JP2019081230A (ja) 教示点又は教示線の位置ずれを警告又は修正するロボット教示装置
CN111002315B (zh) 一种轨迹规划方法、装置及机器人
Borum et al. State estimation and tracking of deforming planar elastic rods
WO2021117479A1 (ja) 情報処理装置、方法およびプログラム
CN107442973B (zh) 基于机器视觉的焊道定位方法及装置
JP5573275B2 (ja) 特徴点抽出装置及びこれを用いた動作教示装置、動作処理装置
CN107932505A (zh) 基于关节臂机器人的最优打磨任务路径规划方法和装置
CN113391597A (zh) 控制器系统以及其控制方法
US11717965B2 (en) Determination of robot posture
CN112720492B (zh) 多轴机器人的复杂轨迹光顺方法、装置、介质及电子设备
US20180088569A1 (en) Off-line-programming jog assist device, jog assist method, and recording medium storing jog assist program
WO2020022040A1 (ja) 制御システム、制御方法およびプログラム
CN113467360A (zh) 控制器系统以及其控制方法
CN112643718B (zh) 图像处理设备及其控制方法和存储其控制程序的存储介质
JP2005186193A (ja) ロボットのキャリブレーション方法および三次元位置計測方法
JP2015100874A (ja) ロボットシステム
Kittaka et al. Creating see-through image using two RGB-D sensors for remote control robot
CN115972194B (zh) 基于几何代数梯度的双机械臂同步校正方法
CN113574477B (zh) 控制系统及记录介质

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination