CA918789A - Programmed manipulator apparatus - Google Patents

Programmed manipulator apparatus

Info

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
Application number
CA076401A
Other languages
English (en)
Inventor
F. Engelberger Joseph
J. Dunne Maurice
L. Gardner Horace
H. Lindbom Torsten
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.)
Unimation Inc
Original Assignee
Unimation 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 Unimation Inc filed Critical Unimation Inc
Application granted granted Critical
Publication of CA918789A publication Critical patent/CA918789A/en
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
    • G05B19/18—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
CA076401A 1969-03-18 1970-03-03 Programmed manipulator apparatus Expired CA918789A (en)

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 (enrdf_load_stackoverflow)
CA (1) CA918789A (enrdf_load_stackoverflow)
DE (1) DE2012858C3 (enrdf_load_stackoverflow)
FR (1) FR2034910B1 (enrdf_load_stackoverflow)
GB (1) GB1307611A (enrdf_load_stackoverflow)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102848384A (zh) * 2012-10-08 2013-01-02 常州汉迪机器人科技有限公司 一种用于机器人系统的柔性执行器及机器人系统

Families Citing this family (18)

* Cited by examiner, † Cited by third party
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 (enrdf_load_stackoverflow) * 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 (sv) * 1982-04-30 1983-10-31 Aida Eng Ltd Anordning for att overfora material som skall tryckas
GB2124407A (en) * 1982-06-03 1984-02-15 Zed Instr Ltd Control of hydraulic booms
JPS59153207A (ja) * 1983-02-21 1984-09-01 Mitsubishi Electric Corp ロボツトの制御装置
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
DE29711523U1 (de) 1997-07-02 1998-07-30 Kuka Roboter GmbH, 86165 Augsburg Roboter
CA2731920C (en) * 2008-05-30 2015-05-05 Deere-Hitachi Specialty Products A vehicular stored energy processor
CN103252770A (zh) * 2013-04-15 2013-08-21 佛山市鼎峰机器人有限公司 一种工件冲压智能控制工艺及智能控制机械手
CN108057981B (zh) * 2017-12-27 2023-12-19 佛山煜宁智能科技有限公司 一种阀芯旋转打压磨合性能的装置
CN108032278B (zh) * 2018-01-18 2024-01-26 天津城建大学 基于智能机械手臂的六自由度全方位搬运机器人
CN108927483B (zh) * 2018-07-26 2023-11-03 江苏四达重工有限公司 用于铆银点机的银点夹取装置
CN112356056A (zh) * 2021-01-14 2021-02-12 烟台金科自动化科技有限公司 一种基于气源驱动的机械手装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
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 (fr) * 1965-08-26 1967-02-10 Telemecanique Electrique Dispositif électrique de comparaison de nombres codés
FR1478100A (fr) * 1966-04-29 1967-04-21 Siemens Ag Dispositif pour la commande numérique de machines opératrices, en particulier de machines-outils
FR1519430A (fr) * 1967-04-19 1968-03-29 Starkstrom Anlagenbau Veb K Dispositif de couplage pour la sélection autonome de l'avance dans des dispositifs de commande numérique

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102848384A (zh) * 2012-10-08 2013-01-02 常州汉迪机器人科技有限公司 一种用于机器人系统的柔性执行器及机器人系统

Also Published As

Publication number Publication date
JPS5134180B1 (enrdf_load_stackoverflow) 1976-09-24
DE2012858B2 (de) 1977-10-06
JPS5134181B1 (enrdf_load_stackoverflow) 1976-09-24
JPS5134182B1 (enrdf_load_stackoverflow) 1976-09-24
GB1307611A (en) 1973-02-21
DE2012858A1 (de) 1970-09-24
FR2034910B1 (enrdf_load_stackoverflow) 1974-06-14
DE2012858C3 (de) 1979-07-05
FR2034910A1 (enrdf_load_stackoverflow) 1970-12-18

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