CA1080828A - Methode et appareil generateur de programmes de controle de position ou de trajet utilisant la reaction due aux forces exterieures - Google Patents
Methode et appareil generateur de programmes de controle de position ou de trajet utilisant la reaction due aux forces exterieuresInfo
- Publication number
- CA1080828A CA1080828A CA277,127A CA277127A CA1080828A CA 1080828 A CA1080828 A CA 1080828A CA 277127 A CA277127 A CA 277127A CA 1080828 A CA1080828 A CA 1080828A
- Authority
- CA
- Canada
- Prior art keywords
- signals
- positional
- generating
- positional condition
- sensor
- 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
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
- B25J9/0081—Programme-controlled manipulators with master teach-in 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
- 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
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36429—Power assisted positioning
-
- 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
- G05B2219/37—Measurements
- G05B2219/37357—Force, pressure, weight or deflection
-
- 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
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42168—Measuring of needed force for servo
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US70852176A | 1976-07-26 | 1976-07-26 |
Publications (1)
Publication Number | Publication Date |
---|---|
CA1080828A true CA1080828A (fr) | 1980-07-01 |
Family
ID=24846113
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA277,127A Expired CA1080828A (fr) | 1976-07-26 | 1977-04-27 | Methode et appareil generateur de programmes de controle de position ou de trajet utilisant la reaction due aux forces exterieures |
Country Status (6)
Country | Link |
---|---|
JP (1) | JPS5314281A (fr) |
CA (1) | CA1080828A (fr) |
DE (1) | DE2728395A1 (fr) |
FR (1) | FR2360117A1 (fr) |
GB (1) | GB1532927A (fr) |
IT (1) | IT1081643B (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102848391A (zh) * | 2012-09-20 | 2013-01-02 | 北京邮电大学 | 基于真实力反馈的四通道双边遥操作控制系统 |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS54106776A (en) * | 1978-02-10 | 1979-08-22 | Fanuc Ltd | Positioning device |
DE7828226U1 (fr) * | 1978-09-22 | 1987-01-02 | H.A. Schlatter Ag, Schlieren, Zuerich, Ch | |
US4283764A (en) * | 1979-10-12 | 1981-08-11 | Nordson Corporation | Manually programmable robot with power-assisted motion during programming |
JPS57173486A (en) * | 1981-04-15 | 1982-10-25 | Fujitsu Fanuc Ltd | Controlling system for robot |
JPS57199484A (en) * | 1981-06-01 | 1982-12-07 | Okuma Mach Works Ltd | Controller for synchronous motor |
DE3240251A1 (de) * | 1982-10-30 | 1984-05-03 | Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln | Verfahren zum programmieren von bewegungen und erforderlichenfalls von bearbeitungskraeften bzw. -momenten eines roboters oder manipulators und einrichtung zu dessen durchfuehrung |
EP0108511A3 (fr) * | 1982-11-04 | 1985-12-18 | EMI Limited | Systèmes de commande de robot |
US4621332A (en) * | 1983-06-20 | 1986-11-04 | Hitachi, Ltd. | Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient |
AU3583084A (en) * | 1983-12-10 | 1985-06-13 | Aida Engineering Ltd. | Playback grinding robot |
JPH0748162B2 (ja) * | 1984-03-09 | 1995-05-24 | 富士通株式会社 | 物品処理装置の教示方法 |
JPH0612490B2 (ja) * | 1985-04-22 | 1994-02-16 | 日産自動車株式会社 | ロボツトの制御装置 |
JPS61264408A (ja) * | 1985-05-20 | 1986-11-22 | Fujitsu Ltd | 物体移動装置の教示制御方式 |
JPS61269712A (ja) * | 1985-05-24 | 1986-11-29 | Fujitsu Ltd | 自動作業装置の教示制御方法 |
DE4129152A1 (de) * | 1991-09-02 | 1993-04-08 | Fraunhofer Ges Forschung | Positioniervorrichtung mit kraftsensor |
-
1977
- 1977-04-27 CA CA277,127A patent/CA1080828A/fr not_active Expired
- 1977-06-09 GB GB2413177A patent/GB1532927A/en not_active Expired
- 1977-06-21 FR FR7718948A patent/FR2360117A1/fr active Granted
- 1977-06-24 DE DE19772728395 patent/DE2728395A1/de not_active Withdrawn
- 1977-07-20 JP JP8617577A patent/JPS5314281A/ja active Pending
- 1977-07-22 IT IT2602077A patent/IT1081643B/it active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102848391A (zh) * | 2012-09-20 | 2013-01-02 | 北京邮电大学 | 基于真实力反馈的四通道双边遥操作控制系统 |
Also Published As
Publication number | Publication date |
---|---|
JPS5314281A (en) | 1978-02-08 |
GB1532927A (en) | 1978-11-22 |
FR2360117A1 (fr) | 1978-02-24 |
FR2360117B1 (fr) | 1980-12-19 |
IT1081643B (it) | 1985-05-21 |
DE2728395A1 (de) | 1978-02-02 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
MKEX | Expiry |