DE19581677T1 - Robotersteuerungssystem - Google Patents

Robotersteuerungssystem

Info

Publication number
DE19581677T1
DE19581677T1 DE19581677T DE19581677T DE19581677T1 DE 19581677 T1 DE19581677 T1 DE 19581677T1 DE 19581677 T DE19581677 T DE 19581677T DE 19581677 T DE19581677 T DE 19581677T DE 19581677 T1 DE19581677 T1 DE 19581677T1
Authority
DE
Germany
Prior art keywords
control system
robot control
robot
control
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.)
Withdrawn
Application number
DE19581677T
Other languages
English (en)
Inventor
Tadashi Taninaga
Tetsuya Ogawa
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.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
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 Komatsu Ltd filed Critical Komatsu Ltd
Publication of DE19581677T1 publication Critical patent/DE19581677T1/de
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
    • B24B27/04—Grinding machines or devices in which the grinding tool is supported on a swinging arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • G05B2219/37285—Load, current taken by motor
    • 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
    • G05B2219/37583—Detect separation, cutting, penetration, piercing, break through material
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39468—Changeable hand, tool, code carrier, detector
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45058—Grinding, polishing robot
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49074—Control cutting speed
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49075—Control depth of cut
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
    • Y10T483/1736—Tool having specific mounting or work treating feature
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/18—Tool transfer to or from matrix

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
DE19581677T 1994-06-17 1995-06-16 Robotersteuerungssystem Withdrawn DE19581677T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP13599994 1994-06-17
PCT/JP1995/001197 WO1995035187A1 (fr) 1994-06-17 1995-06-16 Dispositif de commande de robot

Publications (1)

Publication Number Publication Date
DE19581677T1 true DE19581677T1 (de) 1997-05-28

Family

ID=15164832

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19581677T Withdrawn DE19581677T1 (de) 1994-06-17 1995-06-16 Robotersteuerungssystem

Country Status (6)

Country Link
US (2) US5711697A (de)
KR (1) KR0167021B1 (de)
CN (1) CN1150401A (de)
DE (1) DE19581677T1 (de)
GB (1) GB2305142B (de)
WO (1) WO1995035187A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013012446A1 (de) * 2013-07-26 2015-01-29 Kuka Laboratories Gmbh Verfahren zum Überwachen einer nutzlastführenden Roboteranordnung
DE102018206865A1 (de) * 2018-05-04 2019-11-07 Audi Ag Verfahren zur Bearbeitung eines Rohbauteils durch eine Bearbeitungsmaschine und Bearbeitungsmaschine zur Bearbeitung eines Rohbauteils

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AU9039498A (en) 1997-08-28 1999-03-16 Joalto Design, Inc. Helmet restraint system and method
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JP3215086B2 (ja) * 1998-07-09 2001-10-02 ファナック株式会社 ロボット制御装置
US6264534B1 (en) * 1999-03-25 2001-07-24 Ford Global Technologies, Inc. Method and tooling for automated wet or dry sanding of a vehicle surface
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JP3392779B2 (ja) * 1999-05-25 2003-03-31 ファナック株式会社 作業の異常監視機能を備えたロボット制御装置
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JP3808321B2 (ja) * 2001-04-16 2006-08-09 ファナック株式会社 ロボット制御装置
GB0117904D0 (en) * 2001-07-23 2001-09-12 Lucas Industries Ltd Motor control system
JP3736411B2 (ja) * 2001-09-28 2006-01-18 松下電器産業株式会社 ア−ク溶接装置
US6907318B2 (en) * 2003-01-09 2005-06-14 Advanced Tubing Technology, Inc. Multi-station robotic welding assembly
CA2419214A1 (en) * 2003-02-19 2004-08-19 C.M.E. Blasting & Mining Equipment Ltd. Grinding apparatus for buttons on rock drill bit
JP2005108144A (ja) * 2003-10-02 2005-04-21 Fanuc Ltd ロボットの補正データ確認装置
US20070067930A1 (en) * 2003-10-14 2007-03-29 Efraim Garti Cordless pool cleaning robot
JP2005196242A (ja) * 2003-12-26 2005-07-21 Fanuc Ltd 倣い加工装置
US8000837B2 (en) * 2004-10-05 2011-08-16 J&L Group International, Llc Programmable load forming system, components thereof, and methods of use
JP4053550B2 (ja) * 2005-05-27 2008-02-27 ファナック株式会社 教示点を修正するための装置、プログラム、記録媒体及び方法
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CN101041220B (zh) * 2006-03-22 2012-03-28 中国科学院自动化研究所 利用低精度机器人实现高精度轴孔装配的方法
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US20100180711A1 (en) * 2009-01-19 2010-07-22 Comau, Inc. Robotic end effector system and method
US9862048B2 (en) * 2010-10-07 2018-01-09 Illinois Tool Works Inc. Method and apparatus for monitoring weld cell
CN101983838B (zh) * 2010-10-14 2012-07-25 复旦大学 基于智能数控平台的铣磨抛光装置
WO2012135732A1 (en) * 2011-03-30 2012-10-04 Illinois Tool Works Inc. System for and method of welding large panel assemblies using a welding robot and a pressing component
KR101314570B1 (ko) * 2011-10-12 2013-10-07 서울대학교산학협력단 정밀한 제어를 위한 뇌-기계 인터페이스 장치 및 방법
ITMI20111868A1 (it) * 2011-10-13 2013-04-14 Gima Spa Procedimento per il controllo dell'interferenza e/o collisione d'organi meccanici e sistema connesso
CN102699878B (zh) * 2012-02-08 2015-01-14 苏州喜和喜精密机械有限公司 倒钝砂抛钻攻复合机
DE102012006502A1 (de) * 2012-03-29 2013-10-02 Dula-Werke Dustmann & Co. Gmbh Verfahren zum mehrstufigen Schleifen von Werkstücken, sowie Vakuumtisch, Vorratsbehälter, Abstreifeinrichtung und Anlage zur Durchführung des Verfahrens
CN102699790A (zh) * 2012-06-08 2012-10-03 常州大学 一种自适应打磨机器人机构
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JP6005299B2 (ja) * 2013-11-28 2016-10-12 三菱電機株式会社 ロボットシステムおよびロボットシステムの制御方法
JP6475409B2 (ja) 2013-12-20 2019-02-27 蛇の目ミシン工業株式会社 ロボット、ロボットの制御方法、及びロボットの制御プログラム
JP6486005B2 (ja) * 2014-01-17 2019-03-20 蛇の目ミシン工業株式会社 ロボット、ロボットの制御方法、及びロボットの制御プログラム
JP2016010824A (ja) * 2014-06-27 2016-01-21 株式会社安川電機 ティーチングシステム、ロボットシステムおよびティーチング方法
PL3012695T3 (pl) 2014-10-23 2018-03-30 Comau S.P.A. Układ do monitorowania i sterowania zakładem przemysłowym
US9802242B2 (en) * 2015-02-26 2017-10-31 National Machinery Llc Forging machine with robotic handler
CN105058205B (zh) * 2015-08-31 2017-11-28 温州金石机器人科技有限公司 用于安装研磨带的自动研磨装置
JP6510374B2 (ja) * 2015-09-16 2019-05-08 光洋機械工業株式会社 ワークの平面研削方法及び平面研削盤
JP6577326B2 (ja) * 2015-10-16 2019-09-18 ファナック株式会社 人と協働して物体を運搬するロボットを制御するロボット制御装置、ロボットシステム、およびその方法
CN106926081B (zh) * 2015-12-30 2020-03-17 蒂森克虏伯电梯（上海）有限公司 自动打磨系统
JP6457435B2 (ja) * 2016-05-26 2019-01-23 ファナック株式会社 研削ロボットシステム
CN106041531B (zh) * 2016-07-26 2019-01-11 南京国际船舶设备配件有限公司 一种船用低速机气阀焊接机器人工作站
CN106392880B (zh) * 2016-10-31 2018-11-06 无锡市中远工业自动化有限公司 一种控制磨床砂轮进给的方法
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JP6339651B1 (ja) * 2016-12-02 2018-06-06 ファナック株式会社 アーク溶接ロボットシステム
JP6496353B2 (ja) 2017-05-18 2019-04-03 ファナック株式会社 ロボットシステム
CN107081545A (zh) * 2017-06-05 2017-08-22 合肥方源机电有限公司 一种便携式焊接机器人
JP6637928B2 (ja) * 2017-06-21 2020-01-29 株式会社大気社 自動研磨システム
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CN107584493B (zh) * 2017-08-29 2020-08-14 成都乐创自动化技术股份有限公司 一种捕捉目标示教点的方法及系统
IT201800005091A1 (it) 2018-05-04 2019-11-04 "Procedimento per monitorare lo stato di funzionamento di una stazione di lavorazione, relativo sistema di monitoraggio e prodotto informatico"
CN109304662B (zh) * 2018-10-16 2020-11-10 诺伯特智能装备（山东）有限公司 一种快速打磨机器人
CN110405600A (zh) * 2019-01-08 2019-11-05 贺奇玻璃制造(大连)有限公司 切削设备及其控制方法
JP7207010B2 (ja) * 2019-02-27 2023-01-18 セイコーエプソン株式会社 ロボットシステム及びその制御方法
CN110253567B (zh) * 2019-05-22 2021-07-20 深圳镁伽科技有限公司 用于控制机器人运动的运动控制系统、方法及机器人
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013012446A1 (de) * 2013-07-26 2015-01-29 Kuka Laboratories Gmbh Verfahren zum Überwachen einer nutzlastführenden Roboteranordnung
EP2845697A3 (de) * 2013-07-26 2015-11-25 KUKA Roboter GmbH Verfahren zum Überwachen einer nutzlastführenden Roboteranordnung
US10213920B2 (en) 2013-07-26 2019-02-26 Kuka Deutschland Gmbh Apparatus and method for monitoring a payload handling robot assembly
DE102018206865A1 (de) * 2018-05-04 2019-11-07 Audi Ag Verfahren zur Bearbeitung eines Rohbauteils durch eine Bearbeitungsmaschine und Bearbeitungsmaschine zur Bearbeitung eines Rohbauteils
DE102018206865B4 (de) 2018-05-04 2021-08-05 Audi Ag Verfahren zur Bearbeitung eines Rohbauteils durch eine Bearbeitungsmaschine und Bearbeitungsmaschine zur Bearbeitung eines Rohbauteils

Also Published As

Publication number Publication date
GB9625789D0 (en) 1997-01-29
GB2305142B (en) 1998-07-01
KR960000417A (ko) 1996-01-25
CN1150401A (zh) 1997-05-21
WO1995035187A1 (fr) 1995-12-28
US6021361A (en) 2000-02-01
US5711697A (en) 1998-01-27
KR0167021B1 (ko) 1999-02-01
GB2305142A (en) 1997-04-02

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