CA918789A - Programmed manipulator apparatus - Google Patents
Programmed manipulator apparatusInfo
- Publication number
- CA918789A CA918789A CA076401A CA76401A CA918789A CA 918789 A CA918789 A CA 918789A CA 076401 A CA076401 A CA 076401A CA 76401 A CA76401 A CA 76401A CA 918789 A CA918789 A CA 918789A
- Authority
- CA
- Canada
- Prior art keywords
- manipulator apparatus
- programmed manipulator
- programmed
- manipulator
- 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
-
- 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
- G05B19/27—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 using an absolute digital measuring device
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
-
- 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
- G05B2219/33—Director till display
- G05B2219/33268—D-A, A-D
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34062—Comparator
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34236—Multiplex for servos, actuators
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34388—Detect correct moment, position, advanced, delayed, then next command
-
- 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
- G05B2219/35238—Gray-code
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41021—Variable gain
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41133—Compensation non linear transfer function
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41248—Adapting characteristics of servo
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41309—Hydraulic or pneumatic drive
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41474—Servo loop with absolute digital position sensor
-
- 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
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43008—Deceleration and stopping
-
- 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
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43048—Step change in reference, soft start, smoothing reference
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US80815269A | 1969-03-18 | 1969-03-18 |
Publications (1)
Publication Number | Publication Date |
---|---|
CA918789A true CA918789A (en) | 1973-01-09 |
Family
ID=25198015
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA076401A Expired CA918789A (en) | 1969-03-18 | 1970-03-03 | Programmed manipulator apparatus |
Country Status (5)
Country | Link |
---|---|
JP (3) | JPS5134182B1 (en) |
CA (1) | CA918789A (en) |
DE (1) | DE2012858C3 (en) |
FR (1) | FR2034910B1 (en) |
GB (1) | GB1307611A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102848384A (en) * | 2012-10-08 | 2013-01-02 | 常州汉迪机器人科技有限公司 | Flexible actuator of robot system and robot system |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1374120A (en) * | 1970-12-24 | 1974-11-13 | Seiko Instr & Electronics | Transfer and positioning machine |
CA1004444A (en) * | 1972-05-08 | 1977-02-01 | Unimation | Programmed manipulator arrangement for assembling randomly oriented parts |
NO131906C (en) * | 1973-02-13 | 1975-08-20 | Trallfa Nils Underhaug As | |
US3920972A (en) * | 1974-07-16 | 1975-11-18 | Cincinnati Milacron Inc | Method and apparatus for programming a computer operated robot arm |
US4163183A (en) * | 1975-10-28 | 1979-07-31 | Unimation, Inc. | Programmable automatic assembly system |
US4150326A (en) * | 1977-09-19 | 1979-04-17 | Unimation, Inc. | Trajectory correlation and error detection method and apparatus |
SE8302100L (en) * | 1982-04-30 | 1983-10-31 | Aida Eng Ltd | DEVICE FOR TRANSMITTING MATERIALS TO BE PRESSED |
GB2124407A (en) * | 1982-06-03 | 1984-02-15 | Zed Instr Ltd | Control of hydraulic booms |
JPS59153207A (en) * | 1983-02-21 | 1984-09-01 | Mitsubishi Electric Corp | Control device of robot |
GB2143498B (en) * | 1983-07-21 | 1986-04-30 | Emi Ltd | Improvements in or relating to assembly robots |
GB2273282B (en) * | 1992-12-10 | 1997-06-04 | O Brien Brian J | Powered variable geometry structural unit |
US8145395B2 (en) * | 2008-05-30 | 2012-03-27 | Deere-Hitachi Speciality Products | Vehicular stored energy processor |
CN103252770A (en) * | 2013-04-15 | 2013-08-21 | 佛山市鼎峰机器人有限公司 | Workpiece stamping intelligent control process and intelligent control manipulator |
CN108057981B (en) * | 2017-12-27 | 2023-12-19 | 佛山煜宁智能科技有限公司 | Device for rotating, pressing and running-in performance of valve element |
CN108032278B (en) * | 2018-01-18 | 2024-01-26 | 天津城建大学 | Six-freedom-degree all-dimensional transfer robot based on intelligent mechanical arm |
CN108927483B (en) * | 2018-07-26 | 2023-11-03 | 江苏四达重工有限公司 | Silver point clamping device for silver point riveting machine |
CN112356056A (en) * | 2021-01-14 | 2021-02-12 | 烟台金科自动化科技有限公司 | Manipulator device based on air source drive |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB888619A (en) * | 1959-10-22 | 1962-01-31 | North American Aviation Inc | Multiple linear range error decoder |
FR1468776A (en) * | 1965-08-26 | 1967-02-10 | Telemecanique Electrique | Electric coded number comparison device |
FR1478100A (en) * | 1966-04-29 | 1967-04-21 | Siemens Ag | Device for the numerical control of operating machines, in particular machine tools |
FR1519430A (en) * | 1967-04-19 | 1968-03-29 | Starkstrom Anlagenbau Veb K | Coupling device for autonomous selection of feedrate in digital control devices |
-
1970
- 1970-03-03 CA CA076401A patent/CA918789A/en not_active Expired
- 1970-03-05 GB GB1069870A patent/GB1307611A/en not_active Expired
- 1970-03-13 FR FR7009085A patent/FR2034910B1/fr not_active Expired
- 1970-03-18 DE DE19702012858 patent/DE2012858C3/en not_active Expired
-
1973
- 1973-09-28 JP JP10860773A patent/JPS5134182B1/ja active Pending
- 1973-09-28 JP JP10860573A patent/JPS5134180B1/ja active Pending
- 1973-09-28 JP JP10860673A patent/JPS5134181B1/ja active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102848384A (en) * | 2012-10-08 | 2013-01-02 | 常州汉迪机器人科技有限公司 | Flexible actuator of robot system and robot system |
Also Published As
Publication number | Publication date |
---|---|
FR2034910A1 (en) | 1970-12-18 |
JPS5134180B1 (en) | 1976-09-24 |
FR2034910B1 (en) | 1974-06-14 |
DE2012858A1 (en) | 1970-09-24 |
DE2012858C3 (en) | 1979-07-05 |
JPS5134181B1 (en) | 1976-09-24 |
DE2012858B2 (en) | 1977-10-06 |
GB1307611A (en) | 1973-02-21 |
JPS5134182B1 (en) | 1976-09-24 |
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