CA2045438A1 - Dispositif de commande de robot se trouvant dans un systeme de coordonnees inertiel - Google Patents

Dispositif de commande de robot se trouvant dans un systeme de coordonnees inertiel

Info

Publication number
CA2045438A1
CA2045438A1 CA2045438A CA2045438A CA2045438A1 CA 2045438 A1 CA2045438 A1 CA 2045438A1 CA 2045438 A CA2045438 A CA 2045438A CA 2045438 A CA2045438 A CA 2045438A CA 2045438 A1 CA2045438 A1 CA 2045438A1
Authority
CA
Canada
Prior art keywords
coordinate system
robot
control device
inertial coordinate
velocity
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.)
Granted
Application number
CA2045438A
Other languages
English (en)
Other versions
CA2045438C (fr
Inventor
Kiyoshi Ioi
Osamu Noro
Osamu Miki
Takashi Katsuragawa
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.)
Kawasaki Motors Ltd
Original Assignee
Kawasaki Jukogyo KK
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 Kawasaki Jukogyo KK filed Critical Kawasaki Jukogyo KK
Publication of CA2045438A1 publication Critical patent/CA2045438A1/fr
Application granted granted Critical
Publication of CA2045438C publication Critical patent/CA2045438C/fr
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
CA002045438A 1990-06-27 1991-06-25 Dispositif de commande de robot se trouvant dans un systeme de coordonnees inertiel Expired - Fee Related CA2045438C (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2170571A JP2566665B2 (ja) 1990-06-27 1990-06-27 慣性系におけるロボットの制御装置
JP170571/1990 1990-06-27

Publications (2)

Publication Number Publication Date
CA2045438A1 true CA2045438A1 (fr) 1991-12-28
CA2045438C CA2045438C (fr) 1996-10-08

Family

ID=15907307

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002045438A Expired - Fee Related CA2045438C (fr) 1990-06-27 1991-06-25 Dispositif de commande de robot se trouvant dans un systeme de coordonnees inertiel

Country Status (5)

Country Link
US (1) US5260629A (fr)
EP (1) EP0464649B1 (fr)
JP (1) JP2566665B2 (fr)
CA (1) CA2045438C (fr)
DE (1) DE69122317T2 (fr)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3094091B2 (ja) * 1991-10-16 2000-10-03 工業技術院長 宇宙ロボットの制御装置
US5550953A (en) * 1994-04-20 1996-08-27 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration On-line method and apparatus for coordinated mobility and manipulation of mobile robots
JP3273443B2 (ja) * 1992-05-22 2002-04-08 本田技研工業株式会社 ロボットのリンクなどの軌道生成方法及び装置
JP2833730B2 (ja) * 1993-03-10 1998-12-09 三菱電機株式会社 位置制御装置
US5497061A (en) * 1993-03-31 1996-03-05 Hitachi, Ltd. Method of controlling robot's compliance
US5767648A (en) * 1996-04-19 1998-06-16 Massachusetts Institute Of Technology Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use thereof
JP3857054B2 (ja) * 1999-05-14 2006-12-13 三菱電機株式会社 サーボ制御装置
JP4589007B2 (ja) 2002-04-12 2010-12-01 ヘンリー ケイ． オバーマイヤー， 多軸ジョイスティックおよびそのためのトランスデューサー手段
CA2491101A1 (fr) * 2003-12-30 2005-06-30 Canadian Space Agency Banc d'essai reproduisant l'etat d'apesanteur pour systeme de commande d'engin spatial
JP2008188722A (ja) * 2007-02-06 2008-08-21 Fanuc Ltd ロボット制御装置
KR101479233B1 (ko) 2008-05-13 2015-01-05 삼성전자 주식회사 로봇 및 그 협조작업 제어방법
US8297211B2 (en) * 2009-05-20 2012-10-30 Gammill, Inc. Method and apparatus for inertial stitch regulation
JP6155780B2 (ja) * 2013-04-10 2017-07-05 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
JP5941083B2 (ja) * 2014-03-12 2016-06-29 ファナック株式会社 外部環境との接触を検知するロボット制御装置
CN107053154B (zh) * 2017-05-11 2020-03-13 华志微创医疗科技（北京）有限公司 一种用于机器人精度标定的方法
US11065707B2 (en) * 2017-11-29 2021-07-20 Lincoln Global, Inc. Systems and methods supporting predictive and preventative maintenance

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SE395065B (sv) * 1975-11-06 1977-07-25 Asea Ab Anordning for digital reglering
US4178632A (en) * 1978-03-06 1979-12-11 Cincinnati Milacron Inc. Method for controlling the operation of a computer operated robot arm
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming
US4367532A (en) * 1979-10-12 1983-01-04 Nordson Corporation Manually programmable robot with power-assisted motion during programming
US4433382A (en) * 1981-07-20 1984-02-21 Cincinnati Milacron Inc. Apparatus for automatically adjusting the programmed location of a robot arm
JPS5988279A (ja) * 1982-10-15 1984-05-22 新明和工業株式会社 多関節ロボットの座標変換方法およびそのための装置
US4510428A (en) * 1983-03-25 1985-04-09 Unimation, Inc. Control system for manipulator apparatus with initializing stabilization and inertia scaling
US4670849A (en) * 1983-03-31 1987-06-02 Hitachi, Ltd. Position error correcting method and apparatus for industrial 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
JPS60230204A (ja) * 1984-04-27 1985-11-15 Toyoda Mach Works Ltd 可動体移動制御装置における保安装置
US4603284A (en) * 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
JPS615302A (ja) * 1984-06-19 1986-01-11 Nissan Motor Co Ltd マニピユレ−タの制御装置
US4734866A (en) * 1984-07-05 1988-03-29 Siemens Aktiengesellschaft Computer controller for an industrial multiaxis robot
US4605354A (en) * 1984-07-30 1986-08-12 International Business Machines Corporation Slip sensitive robot gripper system
JPS6149205A (ja) * 1984-08-16 1986-03-11 Seiko Instr & Electronics Ltd ロボツト制御方式
JPH0740204B2 (ja) * 1985-03-30 1995-05-01 株式会社東芝 多自由度非線形機械システムの制御装置
US4718078A (en) * 1985-08-19 1988-01-05 Siemens Aktiengesellschaft System for controlling motion of a robot
US4975856A (en) * 1986-02-18 1990-12-04 Robotics Research Corporation Motion controller for redundant or nonredundant linkages
US4691152A (en) * 1986-02-19 1987-09-01 International Business Machines Corporation Data disk drive velocity estimator
JP2535334B2 (ja) * 1986-10-29 1996-09-18 フアナツク株式会社 デイジタル負帰還制御システム
JPS63123107A (ja) * 1986-11-12 1988-05-26 Fanuc Ltd 位置制御方式
JPS63148315A (ja) * 1986-12-12 1988-06-21 Fanuc Ltd サ−ボモ−タ制御装置
US4843293A (en) * 1987-02-02 1989-06-27 Research Development Corporation Apparatus for controlling servo system employing piezo-electric actuator
US4868473A (en) * 1987-02-24 1989-09-19 Mitsubishi Denki Kabushiki Kaisha Industrial robot device including a robot and a processing machine
JP2534860B2 (ja) * 1987-03-06 1996-09-18 蛇の目ミシン工業株式会社 電動機の速度制御装置
JP2713899B2 (ja) * 1987-03-30 1998-02-16 株式会社日立製作所 ロボツト装置
JPS63274385A (ja) * 1987-04-30 1988-11-11 Fanuc Ltd サ−ボモ−タの速度制御装置
US4792737A (en) * 1987-06-15 1988-12-20 Performance Controls, Inc. Circuit for controlling the motion of a moving object
US4969108A (en) * 1988-04-08 1990-11-06 Cincinnati Milacron Inc. Vision seam tracking method and apparatus for a manipulator
US4999557A (en) * 1988-05-02 1991-03-12 Shinko Electric Co., Ltd. Integration proportional controller in servo-control system
JPH02141398A (ja) * 1988-11-24 1990-05-30 Fujitsu Ltd 宇宙装置の姿勢保持制御方式

Also Published As

Publication number Publication date
DE69122317D1 (de) 1996-10-31
US5260629A (en) 1993-11-09
JPH0457688A (ja) 1992-02-25
EP0464649A2 (fr) 1992-01-08
EP0464649A3 (en) 1993-01-27
CA2045438C (fr) 1996-10-08
EP0464649B1 (fr) 1996-09-25
JP2566665B2 (ja) 1996-12-25
DE69122317T2 (de) 1997-02-06

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