WO2009075059A1 - 移動ロボットの制御装置 - Google Patents

移動ロボットの制御装置 Download PDF

Info

Publication number
WO2009075059A1
WO2009075059A1 PCT/JP2008/003310 JP2008003310W WO2009075059A1 WO 2009075059 A1 WO2009075059 A1 WO 2009075059A1 JP 2008003310 W JP2008003310 W JP 2008003310W WO 2009075059 A1 WO2009075059 A1 WO 2009075059A1
Authority
WO
WIPO (PCT)
Prior art keywords
mobile robot
track
target posture
target
posture
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.)
Ceased
Application number
PCT/JP2008/003310
Other languages
English (en)
French (fr)
Inventor
Nobuyuki Ohno
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.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
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 Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to US12/747,094 priority Critical patent/US8483876B2/en
Priority to EP08860290.9A priority patent/EP2236251B1/en
Publication of WO2009075059A1 publication Critical patent/WO2009075059A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G05B2219/40088—Task is push, slide box
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

　腕体７，７の先端部を対象物Ｗの一端寄りの部位Ｗｂに接触させた状態で、対象物Ｗの代表点の位置と対象物の姿勢とをそれぞれ目標位置軌道、目標姿勢軌道に追従させるように対象物Ｗを移動させる作業を行う移動ロボット１の制御装置であって、対象物Ｗをヨー軸方向で見たときの該対象物Ｗの代表点の対象物座標系での位置を、少なくとも目標姿勢軌道におけるヨー軸まわりの目標姿勢の変化に応じて可変的に設定する。これにより、対象物の目標姿勢の変化パターンに適した該対象物の移動を行なう。
PCT/JP2008/003310 2007-12-10 2008-11-13 移動ロボットの制御装置 Ceased WO2009075059A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/747,094 US8483876B2 (en) 2007-12-10 2008-11-13 Controller of mobile robot
EP08860290.9A EP2236251B1 (en) 2007-12-10 2008-11-13 Mobile robot controller

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007318929A JP4899165B2 (ja) 2007-12-10 2007-12-10 脚式移動ロボットの制御装置
JP2007-318929 2007-12-10

Publications (1)

Publication Number Publication Date
WO2009075059A1 true WO2009075059A1 (ja) 2009-06-18

Family

ID=40755309

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/003310 Ceased WO2009075059A1 (ja) 2007-12-10 2008-11-13 移動ロボットの制御装置

Country Status (4)

Country Link
US (1) US8483876B2 (ja)
EP (1) EP2236251B1 (ja)
JP (1) JP4899165B2 (ja)
WO (1) WO2009075059A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108673496A (zh) * 2018-05-02 2018-10-19 苏州智伟达机器人科技有限公司 一种基于纯追踪模型的工业机器人路径跟踪方法

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4952959B2 (ja) * 2009-11-18 2012-06-13 独立行政法人科学技術振興機構 搬送システム、ロボットの制御方法
JP2016508749A (ja) * 2012-12-14 2016-03-24 リナック エー／エス 電動アクチュエータシステム
US10168711B2 (en) * 2015-09-16 2019-01-01 Omron Adept Technologies, Inc. Method and apparatus for autonomous conveyance of transport carts
JP6483014B2 (ja) * 2015-12-25 2019-03-13 本田技研工業株式会社 移動ロボットの制御装置
JP6603257B2 (ja) * 2017-03-31 2019-11-06 ファナック株式会社 行動情報学習装置、管理装置、ロボット制御システム及び行動情報学習方法
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
EP4248286B1 (en) * 2020-11-20 2026-02-25 Abb Schweiz Ag Method of handling carrier by means of mobile robot, control system and mobile robot

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006110676A (ja) * 2004-10-15 2006-04-27 Honda Motor Co Ltd 脚式移動ロボットの制御装置
JP2007160428A (ja) 2005-12-12 2007-06-28 Honda Motor Co Ltd 脚式移動ロボットの歩容生成装置

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WO1998026905A1 (fr) * 1996-12-19 1998-06-25 Honda Giken Kogyo Kabushiki Kaisha Controleur d'attitude de robot mobile sur jambes
US6305484B1 (en) * 2000-03-31 2001-10-23 Leblanc Edward L. Automated aircraft towing vehicle system
SE0004465D0 (sv) * 2000-12-04 2000-12-04 Abb Ab Robot system
US6748292B2 (en) * 2002-07-15 2004-06-08 Distrobot Systems, Inc. Material handling method using autonomous mobile drive units and movable inventory trays
AU2003270343A1 (en) * 2002-08-30 2004-03-19 Aethon, Inc. Robotic cart pulling vehicle
CN101890720B (zh) * 2004-07-13 2012-01-11 松下电器产业株式会社 物品保持系统、机器人以及机器人控制方法
JP4808626B2 (ja) * 2004-10-15 2011-11-02 本田技研工業株式会社 脚式移動ロボットの歩容生成装置
US9026301B2 (en) * 2005-10-14 2015-05-05 Aethon, Inc. Robotic ordering and delivery system software and methods
US7975959B2 (en) * 2006-09-28 2011-07-12 Israel Aerospace Industries Ltd. System and method for transferring airplanes
JP4560658B2 (ja) * 2007-12-10 2010-10-13 本田技研工業株式会社 脚式移動ロボットの制御装置
US8165718B2 (en) * 2010-07-30 2012-04-24 Toyota Motor Engineering & Manufacturing North America, Inc. Robotic transportation devices and systems

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006110676A (ja) * 2004-10-15 2006-04-27 Honda Motor Co Ltd 脚式移動ロボットの制御装置
JP2007160428A (ja) 2005-12-12 2007-06-28 Honda Motor Co Ltd 脚式移動ロボットの歩容生成装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2236251A4

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108673496A (zh) * 2018-05-02 2018-10-19 苏州智伟达机器人科技有限公司 一种基于纯追踪模型的工业机器人路径跟踪方法
CN108673496B (zh) * 2018-05-02 2021-05-11 苏州寻迹智行机器人技术有限公司 一种基于纯追踪模型的工业机器人路径跟踪方法

Also Published As

Publication number Publication date
JP4899165B2 (ja) 2012-03-21
EP2236251B1 (en) 2013-04-17
JP2009136993A (ja) 2009-06-25
EP2236251A4 (en) 2011-04-06
EP2236251A1 (en) 2010-10-06
US8483876B2 (en) 2013-07-09
US20100268382A1 (en) 2010-10-21

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