CA1020651A - Methode et dispositif de mise en sequence du fonctionnement d'un bras articule - Google Patents

Methode et dispositif de mise en sequence du fonctionnement d'un bras articule

Info

Publication number
CA1020651A
CA1020651A CA231,511A CA231511A CA1020651A CA 1020651 A CA1020651 A CA 1020651A CA 231511 A CA231511 A CA 231511A CA 1020651 A CA1020651 A CA 1020651A
Authority
CA
Canada
Prior art keywords
sequencing
robot arm
robot
arm
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.)
Expired
Application number
CA231,511A
Other languages
English (en)
Inventor
Merton D. Corwin (Jr.)
Richard E. Hohn
Ronald L. Tarvin
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.)
Milacron Inc
Original Assignee
Milacron Inc
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 Milacron Inc filed Critical Milacron Inc
Application granted granted Critical
Publication of CA1020651A publication Critical patent/CA1020651A/fr
Expired legal-status Critical Current

Links

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
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • 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
    • G05B2219/35543—Cartesian to polar and vice versa
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36503—Adapt program to real coordinates, software orientation

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
CA231,511A 1974-07-16 1975-07-15 Methode et dispositif de mise en sequence du fonctionnement d'un bras articule Expired CA1020651A (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US488968A US3920972A (en) 1974-07-16 1974-07-16 Method and apparatus for programming a computer operated robot arm

Publications (1)

Publication Number Publication Date
CA1020651A true CA1020651A (fr) 1977-11-08

Family

ID=23941863

Family Applications (1)

Application Number Title Priority Date Filing Date
CA231,511A Expired CA1020651A (fr) 1974-07-16 1975-07-15 Methode et dispositif de mise en sequence du fonctionnement d'un bras articule

Country Status (7)

Country Link
US (1) US3920972A (fr)
JP (1) JPS6051121B2 (fr)
CA (1) CA1020651A (fr)
DE (1) DE2526504C3 (fr)
GB (1) GB1481134A (fr)
NO (1) NO148048C (fr)
SE (1) SE428977B (fr)

Families Citing this family (161)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT363298B (de) * 1978-12-18 1981-07-27 Igm Ind Geraete Maschf Gmbh Schweissautomat
CH586180A5 (en) * 1973-07-26 1977-03-31 American Cyanamid Co Triamcinolone acetonide 21-valerate - as antiinflammatory agent for topical use
IT1043940B (it) * 1974-12-20 1980-02-29 Fiat Spa Apparecchaitura per il controllo di una macchina operatrice del tipo robot
IT1047161B (it) * 1975-09-03 1980-09-10 Olivetti & Co Spa Centro di lavorazione per automazione programmabile con dispositivo tattile autoadattivo
US4163183A (en) * 1975-10-28 1979-07-31 Unimation, Inc. Programmable automatic assembly system
US4115858A (en) * 1976-01-12 1978-09-19 Houdaille Industries, Inc. Machine tool controller employing microprocessor system for controlling Z axis
US4135238A (en) * 1976-01-26 1979-01-16 Hamill Company, Inc. Numerically controlled machine tool system
IT1078641B (it) * 1976-09-14 1985-05-08 Olivetti & Co Spa Perfezionamenti a un centro di lavorazione autoadattativo per automazione programmabile
DE2725557A1 (de) * 1977-06-07 1978-12-21 Volkswagenwerk Ag Drehantrieb fuer einen bestandteil eines handhabungsgeraets
US4178632A (en) * 1978-03-06 1979-12-11 Cincinnati Milacron Inc. Method for controlling the operation of a computer operated robot arm
JPS5953998B2 (ja) * 1978-03-24 1984-12-27 日本機械工業株式会社 屈折式放水塔車における放水塔動作のｃｒｔによるグラフイツク表示装置
US4338672A (en) * 1978-04-20 1982-07-06 Unimation, Inc. Off-line teach assist apparatus and on-line control apparatus
JPS5858682B2 (ja) * 1978-04-26 1983-12-27 ファナック株式会社 産業用ロボツトの制御方式
DE2821843B1 (de) * 1978-05-19 1979-10-18 Heidenhain Gmbh Dr Johannes Numerische Steuerung
US4221997A (en) * 1978-12-18 1980-09-09 Western Electric Company, Incorporated Articulated robot arm and method of moving same
JPS5840761B2 (ja) * 1978-12-20 1983-09-07 工業技術院長 人間腕形マニピュレ−タの制御装置
US4295198A (en) * 1979-04-02 1981-10-13 Cogit Systems, Inc. Automatic printed circuit dimensioning, routing and inspecting apparatus
JPS5611510A (en) * 1979-07-10 1981-02-04 Fanuc Ltd Numerical control system
JPS5621794A (en) * 1979-07-30 1981-02-28 Fujitsu Fanuc Ltd Controlling system for industrial robot
JPS5685106A (en) * 1979-12-14 1981-07-11 Hitachi Ltd Robot teaching method
DE3069201D1 (en) * 1980-03-21 1984-10-25 Fanuc Ltd Tracer control equipment
US4956386A (en) * 1980-04-25 1990-09-11 Gist-Brocades N.V. Pharmaceutical compositions and process for their preparation
DE3171802D1 (en) * 1980-06-10 1985-09-19 British United Shoe Machinery Determining an operating path of a tool in relation to a three-dimensional surface of a workpiece
US4445184A (en) * 1980-07-19 1984-04-24 Shin Meiwa Industry Co., Ltd. Articulated robot
US4379335A (en) * 1980-10-28 1983-04-05 Auto-Place, Inc. Electronic controller and portable programmer system for a pneumatically-powered point-to-point robot
JPS57113114A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
US4393498A (en) * 1981-01-22 1983-07-12 The Boeing Company Method and apparatus for testing systems that communicate over digital buses by transmitting and receiving signals in the form of standardized multi-bit binary encoded words
JPS57149181A (en) * 1981-03-09 1982-09-14 Mitsubishi Electric Corp Controller for robot
JPS584377A (ja) * 1981-03-18 1983-01-11 株式会社安川電機 関節形産業用ロボツトの制御装置
JPH065486B2 (ja) * 1981-03-26 1994-01-19 株式会社安川電機 ロボットの軌跡制御方法
US4403281A (en) * 1981-04-03 1983-09-06 Cincinnati Milacron Industries, Inc. Apparatus for dynamically controlling the tool centerpoint of a robot arm off a predetermined path
DE3114562A1 (de) * 1981-04-10 1982-10-28 Brown, Boveri & Cie Ag, 6800 Mannheim Vorrichtung zum wiederholten abgiessen fluessiger metallmengen aus einem vorratsgefaess
AU546502B2 (en) * 1981-07-31 1985-09-05 Bird-Johnson Company Mechanical wrist
HU185955B (en) * 1981-09-14 1985-04-28 Csepel Muevek Szerszamgepgyar Method and connection arrangement for controlling the positioning for radial drilling machines
DE3136997C2 (de) * 1981-09-17 1986-09-25 Kieninger & Obergfell Fabrik für technische Laufwerke und Apparate, 7742 St Georgen Vorrichtung zur Änderung physikalischer oder chemischer Größen
US4550383A (en) * 1981-09-24 1985-10-29 Hitachi, Ltd. Parabolic position and attitude interpolation for a robot hand
JPS5856003A (ja) * 1981-09-30 1983-04-02 Hitachi Ltd 工業用ロボツトの制御方法
JPS5858607A (ja) * 1981-10-05 1983-04-07 Sankyo Seiki Mfg Co Ltd プリセツト式ロボツトにおけるポイント測定方式
US4486840A (en) * 1981-10-14 1984-12-04 Houdaille Industries, Inc. Computer numeric control for metal forming
US4488241A (en) * 1981-12-08 1984-12-11 Zymark Corporation Robot system with interchangeable hands
JPS58143981A (ja) * 1982-02-19 1983-08-26 株式会社日立製作所 産業用ロボツトの制御方法
SE456048B (sv) * 1982-02-24 1988-08-29 Philips Norden Ab Sett och anordning for att bestemma kollisionsrisken for tva inbordes rorliga kroppar
US4456961A (en) * 1982-03-05 1984-06-26 Texas Instruments Incorporated Apparatus for teaching and transforming noncoincident coordinate systems
US4453221A (en) * 1982-05-13 1984-06-05 Cincinnati Milacron Inc. Manipulator with adaptive velocity controlled path motion
US4506335A (en) * 1982-06-10 1985-03-19 Cincinnati Milacron Inc. Manipulator with controlled path motion
JPS5927307A (ja) * 1982-08-04 1984-02-13 Hitachi Ltd 経路制御方法及び装置
JPS5981094A (ja) * 1982-11-02 1984-05-10 株式会社日立製作所 自動機械
EP0108511A3 (fr) * 1982-11-04 1985-12-18 EMI Limited Systèmes de commande de robot
IT1195387B (it) * 1983-02-22 1988-10-19 Gianni Marani Sequenziatore elettronico programmato e programmabile da utente direttamente dal pannello di comando della relativa apparecchiatura di servizio
JPS59177607A (ja) * 1983-03-28 1984-10-08 Fanuc Ltd 自動プログラミング方法
DE8310067U1 (de) * 1983-04-06 1985-06-05 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Robotergelenk
DE3312377A1 (de) * 1983-04-06 1984-10-18 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Robotergelenk
JPS59189415A (ja) * 1983-04-13 1984-10-27 Hitachi Ltd 工業用ロボツトの動作教示方法および装置
JPS59225405A (ja) * 1983-06-03 1984-12-18 Fanuc Ltd ロボツト指令プログラム作成方法
US4558421A (en) * 1983-06-09 1985-12-10 Yellowstone, Ltd. Control system for an automatic ladling apparatus
US4590578A (en) * 1983-07-11 1986-05-20 United Technologies Corporation Off-line programmable robot
US4575802A (en) * 1983-07-11 1986-03-11 United Technologies Corporation Robot/workpiece orientation
JPS6020209A (ja) * 1983-07-14 1985-02-01 Matsushita Electric Ind Co Ltd ロボツトの補間制御方法
JPS60107107A (ja) * 1983-11-16 1985-06-12 Nachi Fujikoshi Corp 産業用ロボツトのオフライン・テイ−チング方法
JPS60193016A (ja) * 1984-03-14 1985-10-01 Toyota Motor Corp ロボツト装置
JPS60237505A (ja) * 1984-05-09 1985-11-26 Fanuc Ltd ロボツト制御方法
DE3417868C2 (de) * 1984-05-14 1986-08-07 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Verfahren zum Steuern von Roboterbewegungen
US4676142A (en) * 1984-06-04 1987-06-30 Eoa Systems, Inc. Adapter with modular components for a robot end-of-arm interchangeable tooling system
US4611377A (en) * 1984-06-04 1986-09-16 Eoa Systems, Inc. Interchangeable robot end-of-arm tooling system
USRE32854E (en) * 1984-06-04 1989-02-07 Eoa Systems, Inc. Adapter with modular components for a robot end-of-arm interchangeable tooling system
US4734866A (en) * 1984-07-05 1988-03-29 Siemens Aktiengesellschaft Computer controller for an industrial multiaxis robot
DE8430397U1 (de) * 1984-10-16 1986-05-28 Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Robotergelenkmechanismus
JPS61128319A (ja) * 1984-11-28 1986-06-16 Nippon Kogaku Kk <Nikon> 駆動装置
JPS61146482A (ja) * 1984-12-20 1986-07-04 工業技術院長 異構造異自由度バイラテラル・マスタスレイブ・マニピユレ−タの制御装置
JPS60167100U (ja) * 1985-03-05 1985-11-06 森田ポンプ株式会社 多段屈折ブ−ム式高所作業車の作業状況表示警報装置
GB2174216B (en) * 1985-03-19 1988-10-26 Mitutoyo Mfg Co Ltd Method of operating a coordinate measuring instrument
US4718078A (en) * 1985-08-19 1988-01-05 Siemens Aktiengesellschaft System for controlling motion of a robot
WO1987004968A1 (fr) * 1986-02-25 1987-08-27 Trallfa Robot A/S Procede et installation robot de commande programmee d'un outil de travail
US5117348A (en) * 1986-03-28 1992-05-26 The Ingersoll Milling Machine Company Method for alignment of a representative surface to an actual surface for a tape laying machine
US4757459A (en) * 1986-05-29 1988-07-12 Cincinnati Milacron Inc. Apparatus and method for programming a computer operated robot arm using macro instructions
US4897015A (en) * 1987-05-15 1990-01-30 Ade Corporation Rotary to linear motion robot arm
US4835710A (en) * 1987-07-17 1989-05-30 Cincinnati Milacron Inc. Method of moving and orienting a tool along a curved path
US5276777A (en) * 1988-04-27 1994-01-04 Fanuc Ltd. Locus correcting method for industrial robots
US4972347A (en) * 1988-10-11 1990-11-20 Cincinnati Milacron Inc. Method and apparatus for determining the correct tool dimensions for a three dimensional tool mounted on a manipulator
US5064340A (en) * 1989-01-20 1991-11-12 Genmark Automation Precision arm mechanism
JPH02277102A (ja) * 1989-04-18 1990-11-13 Toshiba Mach Co Ltd 数値制御工作機械における加工プログラムティーチング方式
JPH04505378A (ja) * 1989-12-18 1992-09-17 株式会社アマダ 板金曲げ加工装置用ロボットマニピュレータの制御用装置
DE4291619T1 (de) * 1991-06-04 1994-11-10 Anca Pty Ltd Verbesserte Steuerung von CNC-Werkzeugmaschinen
US5629594A (en) * 1992-12-02 1997-05-13 Cybernet Systems Corporation Force feedback system
US6801008B1 (en) * 1992-12-02 2004-10-05 Immersion Corporation Force feedback system and actuator power management
US5389865A (en) * 1992-12-02 1995-02-14 Cybernet Systems Corporation Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor
US7345672B2 (en) * 1992-12-02 2008-03-18 Immersion Corporation Force feedback system and actuator power management
US5465036A (en) * 1992-12-11 1995-11-07 Canon Kabushiki Kaisha Control apparatus of robot
JP2819367B2 (ja) * 1992-12-18 1998-10-30 日東工器株式会社 マニピュレータの安全操作システム
US5625576A (en) 1993-10-01 1997-04-29 Massachusetts Institute Of Technology Force reflecting haptic interface
SE501867C2 (sv) * 1993-11-15 1995-06-12 Asea Brown Boveri Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp
US5798627A (en) * 1995-01-04 1998-08-25 Gilliland; Malcolm T. Method for simultaneous operation of robot welders
JP4014662B2 (ja) * 1995-09-18 2007-11-28 ファナック株式会社 ロボット教示操作盤
US6121743A (en) * 1996-03-22 2000-09-19 Genmark Automation, Inc. Dual robotic arm end effectors having independent yaw motion
US5789890A (en) * 1996-03-22 1998-08-04 Genmark Automation Robot having multiple degrees of freedom
US6169948B1 (en) 1996-06-26 2001-01-02 Hitachi Construction Machinery Co., Ltd. Front control system, area setting method and control panel for construction machine
US6084587A (en) 1996-08-02 2000-07-04 Sensable Technologies, Inc. Method and apparatus for generating and interfacing with a haptic virtual reality environment
IL120889A (en) 1997-05-22 1998-10-30 Eshed Robotec 1982 Ltd Method and facility for direct learning of vending machines
US6191796B1 (en) 1998-01-21 2001-02-20 Sensable Technologies, Inc. Method and apparatus for generating and interfacing with rigid and deformable surfaces in a haptic virtual reality environment
US6125904A (en) 1998-06-01 2000-10-03 Aim Automotive Integrated Manufacturing, Inc. Robotic apparatus and method for assembling a tire to a rim
US6552722B1 (en) 1998-07-17 2003-04-22 Sensable Technologies, Inc. Systems and methods for sculpting virtual objects in a haptic virtual reality environment
US6421048B1 (en) 1998-07-17 2002-07-16 Sensable Technologies, Inc. Systems and methods for interacting with virtual objects in a haptic virtual reality environment
US6489741B1 (en) 1998-08-25 2002-12-03 Genmark Automation, Inc. Robot motion compensation system
US8004229B2 (en) 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US9517106B2 (en) 1999-09-17 2016-12-13 Intuitive Surgical Operations, Inc. Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
US6867770B2 (en) 2000-12-14 2005-03-15 Sensable Technologies, Inc. Systems and methods for voxel warping
US6958752B2 (en) 2001-01-08 2005-10-25 Sensable Technologies, Inc. Systems and methods for three-dimensional modeling
US6671651B2 (en) 2002-04-26 2003-12-30 Sensable Technologies, Inc. 3-D selection and manipulation with a multiple dimension haptic interface
WO2004009303A1 (fr) * 2002-07-18 2004-01-29 Kabushiki Kaisha Yaskawa Denki Commande de robot et systeme robot
US7095418B2 (en) 2003-10-30 2006-08-22 Sensable Technologies, Inc. Apparatus and methods for texture mapping
US7411576B2 (en) 2003-10-30 2008-08-12 Sensable Technologies, Inc. Force reflecting haptic interface
US7382378B2 (en) 2003-10-30 2008-06-03 Sensable Technologies, Inc. Apparatus and methods for stenciling an image
US7626589B2 (en) 2003-12-10 2009-12-01 Sensable Technologies, Inc. Haptic graphical user interface for adjusting mapped texture
US7889209B2 (en) 2003-12-10 2011-02-15 Sensable Technologies, Inc. Apparatus and methods for wrapping texture onto the surface of a virtual object
US7149596B2 (en) 2004-01-13 2006-12-12 Sensable Technologies, Inc. Apparatus and methods for modifying a model of an object to enforce compliance with a manufacturing constraint
KR20090007420A (ko) * 2006-04-11 2009-01-16 보아트 롱이어 인터내셔날 홀딩스, 인크. 드릴 로드 취급기
US8186926B2 (en) * 2006-04-11 2012-05-29 Longyear Tm, Inc. Drill rod handler
DE102006022483A1 (de) * 2006-05-13 2007-11-29 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Anzeigen einer Roboterbahn zur Unterstützung einer Ortsänderung eines Stützpunktes
JP4271232B2 (ja) * 2006-12-20 2009-06-03 ファナック株式会社 ロボットのオフラインプログラミングを実行するための装置、方法、プログラム及び記録媒体
WO2010058394A2 (fr) * 2008-11-20 2010-05-27 Joshua Bronfeld Dispositif et procédés pour faciliter les travaux de construction
WO2012015659A2 (fr) 2010-07-28 2012-02-02 Arnold Oyola Positionnement chirurgical et système de support
US9731419B2 (en) 2010-08-03 2017-08-15 Praxair S.T. Technology, Inc. System and method for programming robots
US8992421B2 (en) 2010-10-22 2015-03-31 Medrobotics Corporation Highly articulated robotic probes and methods of production and use of such probes
EP2637551B1 (fr) 2010-11-11 2019-10-02 Medrobotics Corporation Dispositifs d'introduction de sondes robotiques très articulées
US20150127154A1 (en) * 2011-06-02 2015-05-07 Brain Corporation Reduced degree of freedom robotic controller apparatus and methods
US9566710B2 (en) 2011-06-02 2017-02-14 Brain Corporation Apparatus and methods for operating robotic devices using selective state space training
BR112014005937A2 (pt) 2011-09-13 2017-04-04 Medrobotics Corp sondas extremamente articuladas com disposição de conexões antitorção, métodos para sua formação e métodos de condução de procedimentos médicos
WO2013096610A1 (fr) 2011-12-21 2013-06-27 Oyola Arnold E Appareil de stabilisation pour sondes très articulées avec agencement de liaison, méthodes de formation de celui-ci et méthodes d'utilisation de celui-ci
WO2013181503A1 (fr) 2012-06-01 2013-12-05 Intuitive Surgical Operations, Inc. Évitement de collision entre un bras de manipulateur et un patient par utilisation d'une zone non sensible
KR102167359B1 (ko) 2012-06-01 2020-10-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 영공간을 이용한 수술 머니퓰레이터의 명령된 재구성을 위한 시스템 및 방법
JP6262216B2 (ja) 2012-06-01 2018-01-17 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 零空間を使用して操作アーム間の衝突を回避するためのシステム及び方法
CA2880621A1 (fr) 2012-08-09 2014-02-13 Medrobotics Corporation Systemes de positionnement d'un outil chirurgical
JP5702811B2 (ja) * 2013-01-30 2015-04-15 ファナック株式会社 動作プログラム作成装置
US9764468B2 (en) 2013-03-15 2017-09-19 Brain Corporation Adaptive predictor apparatus and methods
AU2014259679B2 (en) 2013-05-02 2018-03-22 Metrobotics Corporation A robotic system including a cable interface assembly
US9242372B2 (en) 2013-05-31 2016-01-26 Brain Corporation Adaptive robotic interface apparatus and methods
US9314924B1 (en) 2013-06-14 2016-04-19 Brain Corporation Predictive robotic controller apparatus and methods
US9792546B2 (en) 2013-06-14 2017-10-17 Brain Corporation Hierarchical robotic controller apparatus and methods
EP2849016B1 (fr) 2013-09-17 2022-03-30 Siemens Aktiengesellschaft Procédé de réalisation pour une bande devant être éloignée d'un effecteur terminal
US9579789B2 (en) 2013-09-27 2017-02-28 Brain Corporation Apparatus and methods for training of robotic control arbitration
US9597797B2 (en) 2013-11-01 2017-03-21 Brain Corporation Apparatus and methods for haptic training of robots
US9463571B2 (en) 2013-11-01 2016-10-11 Brian Corporation Apparatus and methods for online training of robots
AU2014374201A1 (en) 2013-12-30 2016-07-07 Medrobotics Corporation Articulated robotic probes
US9358685B2 (en) 2014-02-03 2016-06-07 Brain Corporation Apparatus and methods for control of robot actions based on corrective user inputs
US9346167B2 (en) 2014-04-29 2016-05-24 Brain Corporation Trainable convolutional network apparatus and methods for operating a robotic vehicle
DE102014213262A1 (de) * 2014-07-08 2016-01-14 Kuka Roboter Gmbh Maschine und Verfahren zum Betreiben einer Maschine
US9630318B2 (en) 2014-10-02 2017-04-25 Brain Corporation Feature detection apparatus and methods for training of robotic navigation
US9804593B1 (en) * 2014-12-12 2017-10-31 X Development Llc Methods and systems for teaching positions to components of devices
US9717387B1 (en) 2015-02-26 2017-08-01 Brain Corporation Apparatus and methods for programming and training of robotic household appliances
JP6581049B2 (ja) * 2016-08-15 2019-09-25 ファナック株式会社 ロボットシステム
US10131053B1 (en) * 2016-09-14 2018-11-20 X Development Llc Real time robot collision avoidance
CN106429528A (zh) * 2016-10-20 2017-02-22 绵阳蓝奥重型机械制造有限公司 一种包装物批量装车的自动装车系统
CN106963165A (zh) * 2017-04-19 2017-07-21 许建芹 一种教师专用椅
CN107322590B (zh) * 2017-04-27 2019-10-18 山东建筑大学 多自由度液压机械臂
USD874655S1 (en) 2018-01-05 2020-02-04 Medrobotics Corporation Positioning arm for articulating robotic surgical system
CN108453708B (zh) * 2018-04-13 2020-10-27 宁波高新区神台德机械设备有限公司 一种基于物联网的工业机器人
CN108582087B (zh) * 2018-04-18 2020-07-07 珠海市万瑙特健康科技有限公司 机械手臂执行作业的方法、装置以及艾灸装置
IT201800004719A1 (it) * 2018-04-19 2019-10-19 Sistema per la movimentazione automatica di un braccio articolato, in particolare di una gru articolata
CN109335519B (zh) * 2018-11-01 2023-08-29 北京京诚瑞信长材工程技术有限公司 步进式送料装置及系统
CN109822571B (zh) * 2019-02-18 2020-12-08 中国铁建重工集团股份有限公司 一种拼装机机械臂控制方法、装置及设备
CN109895101B (zh) * 2019-04-09 2020-09-11 大连理工大学 一种关节型机械臂逆运动学数值唯一解求取方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2988237A (en) * 1954-12-10 1961-06-13 Jr George C Devol Programmed article transfer
US3246223A (en) * 1962-05-03 1966-04-12 American Mach & Foundry Selective condition limiting recording system for a motor controlled machine tool
US3543910A (en) * 1968-07-30 1970-12-01 George C Devol Work-head automatic motions controls
US3661051A (en) * 1969-03-18 1972-05-09 Unimation Inc Programmed manipulator apparatus
CA918789A (en) * 1969-03-18 1973-01-09 F. Engelberger Joseph Programmed manipulator apparatus
US3909600A (en) * 1972-06-26 1975-09-30 Cincinnati Milacron Inc Method and apparatus for controlling an automation along a predetermined path
JPS49134059A (fr) * 1973-04-27 1974-12-24

Also Published As

Publication number Publication date
SE7507986L (sv) 1976-01-19
GB1481134A (en) 1977-07-27
NO752453L (fr) 1976-01-19
JPS5125273A (en) 1976-03-01
SE428977B (sv) 1983-08-01
NO148048B (no) 1983-04-18
DE2526504B2 (de) 1979-07-05
US3920972A (en) 1975-11-18
DE2526504C3 (de) 1987-09-10
NO148048C (no) 1983-08-10
DE2526504A1 (de) 1976-01-29
JPS6051121B2 (ja) 1985-11-12

Similar Documents

Publication Publication Date Title
CA1020651A (fr) Methode et dispositif de mise en sequence du fonctionnement d&#39;un bras articule
CA986550A (en) Manipulator apparatus
CA1022795A (en) Process and apparatus for cooling down a gas
CA1026561A (fr) Methode et appareil pour le detourage d&#39;une lentille flexible
AU496739B2 (en) A method of and APPARATUS FOR SURVEYING AN AREA
CA1027860A (fr) Appareil pour la centralisation et la commande des outils de forage
CA1007839A (en) Method of and apparatus for positioning wires at a work zone
AU488160B2 (en) Method and apparatus for removing slag
IL47471A0 (en) Method and apparatus for controlling the motion of a tool
CA1008231A (en) Method of and apparatus for positioning wires at a work zone
CA1020243A (fr) Methode et appareil de fabrication de contacts multilames
AU487398B2 (en) Coating method and apparatus
CA1024263A (fr) Methode et appareil d&#39;adressage de microprogrammes
SU587887A3 (ru) Способ изготовлени первичного химического источника тока и устройство дл его осуществлени
CA1031939A (fr) Outil et methode de connexion de fils
CA1012387A (en) Bellows forming method and apparatus
SU609583A1 (ru) Способ изготовлени шаров и устройство дл его осуществлени
AU486586B2 (en) A method of and apparatus for positioning wires ata work zone
AU469747B2 (en) Method and apparatus for arranging objects
CA1034483A (fr) Appareil et methode de repassage des coutures
CA955656A (en) Method and apparatus for welding
AU494174B2 (en) Method and apparatus for contouring a flexible lens
AU474939B2 (en) Apparatus for handling workpieces
CA1027662A (fr) Methode et appareil d&#39;indication numerique directe de la position reelle d&#39;un aeronef
AU480501B2 (en) Method and apparatus for underwater welding