DE19781682T1 - Präzisionsvorrichtung mit nicht-steifer, nicht-präziser Struktur und Verfahren zum Betreiben derselben - Google Patents

Präzisionsvorrichtung mit nicht-steifer, nicht-präziser Struktur und Verfahren zum Betreiben derselben

Info

Publication number
DE19781682T1
DE19781682T1 DE19781682T DE19781682T DE19781682T1 DE 19781682 T1 DE19781682 T1 DE 19781682T1 DE 19781682 T DE19781682 T DE 19781682T DE 19781682 T DE19781682 T DE 19781682T DE 19781682 T1 DE19781682 T1 DE 19781682T1
Authority
DE
Germany
Prior art keywords
rigid
operating
same
precise structure
precision device
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Withdrawn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
DE19781682T
Other languages
English (en)
Other versions
DE19781682B4 (de
Inventor
Stephen Lang Dickerson
Wayne J Book
Nader Sadegh
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.)
Georgia Tech Research Institute
Georgia Tech Research Corp
Original Assignee
Georgia Tech Research Institute
Georgia Tech Research Corp
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 Georgia Tech Research Institute, Georgia Tech Research Corp filed Critical Georgia Tech Research Institute
Publication of DE19781682T1 publication Critical patent/DE19781682T1/de
Withdrawn legal-status Critical Current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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B2219/37563—Ccd, tv camera
    • 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
    • G05B2219/37565—Camera to detect precisely, crosshair, positions on workpiece by operator
    • 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
    • G05B2219/37572—Camera, tv, vision
    • 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
    • G05B2219/41116—Compensation for instability
    • 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
    • G05B2219/41117—Cancel vibration during positioning of slide
    • 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
    • G05B2219/41144—Element used such as low pass filter to cut resonance at non needed regions
    • 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
    • G05B2219/41423—Noise filter as function of rate of displacement, speed, for stabilisation
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S700/00—Data processing: generic control systems or specific applications
    • Y10S700/90—Special robot structural element

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
DE19781682T 1996-04-05 1997-04-03 Präzisionsvorrichtung mit nicht-steifer, nicht-präziser Struktur und Verfahren zum Betreiben derselben Withdrawn DE19781682T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US1490996P 1996-04-05 1996-04-05
PCT/US1997/005548 WO1997038361A1 (en) 1996-04-05 1997-04-03 Precision apparatus with non-rigid, imprecise structure, and method for operating same

Publications (1)

Publication Number Publication Date
DE19781682T1 true DE19781682T1 (de) 1999-04-29

Family

ID=21768498

Family Applications (2)

Application Number Title Priority Date Filing Date
DE19781682T Withdrawn DE19781682T1 (de) 1996-04-05 1997-04-03 Präzisionsvorrichtung mit nicht-steifer, nicht-präziser Struktur und Verfahren zum Betreiben derselben
DE19781682A Expired - Lifetime DE19781682B4 (de) 1996-04-05 1997-04-03 Präzisionsvorrichtung mit nicht-steifer, nicht-präziser Struktur und Verfahren zum Betreiben derselben

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE19781682A Expired - Lifetime DE19781682B4 (de) 1996-04-05 1997-04-03 Präzisionsvorrichtung mit nicht-steifer, nicht-präziser Struktur und Verfahren zum Betreiben derselben

Country Status (4)

Country Link
US (1) US5946449A (de)
AU (1) AU2437097A (de)
DE (2) DE19781682T1 (de)
WO (1) WO1997038361A1 (de)

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KR19990033511A (ko) * 1997-10-24 1999-05-15 전주범 가상 현실 운동 재현기의 구동 제어 장치
US6242880B1 (en) 1998-09-08 2001-06-05 Cimplus, Inc. Tolerance based motion control system
US6961628B2 (en) * 1999-04-16 2005-11-01 Siemens Energy & Automation, Inc. Method and apparatus for tuning compensation parameters
US6611823B1 (en) * 2000-04-20 2003-08-26 Board Of Regents, The University Of Texas System Backlash compensation using neural network
US7080055B2 (en) * 2000-10-03 2006-07-18 Board Of Regents, The University Of Texas System Backlash compensation with filtered prediction in discrete time nonlinear systems by dynamic inversion using neural networks
US7158840B2 (en) 2001-06-29 2007-01-02 Cymer, Inc. Tuning control parameters of vibration reduction and motion control systems for fabrication equipment and robotic systems
US6898484B2 (en) 2002-05-01 2005-05-24 Dorothy Lemelson Robotic manufacturing and assembly with relative radio positioning using radio based location determination
DE10312644A1 (de) * 2003-03-21 2004-09-30 Olympus Biosystems Gmbh Verfahren und Vorrichtung zum Verstellen eines Elements
WO2004103649A1 (ja) * 2003-05-20 2004-12-02 Fujitsu Limited バックラッシュ補償制御方法、バックラッシュ補償制御装置およびバックラッシュ補償制御プログラム
US7081729B2 (en) * 2004-03-23 2006-07-25 The Boeing Company Variable-structure diagnostics approach achieving optimized low-frequency data sampling for EMA motoring subsystem
US7189909B2 (en) * 2004-11-23 2007-03-13 Román Viñoly Camera assembly for finger board instruments
US7450127B2 (en) 2005-03-23 2008-11-11 Hurco Companies Inc. Method of tolerance-based trajectory planning
DE102005028872B3 (de) * 2005-06-22 2006-08-03 Siemens Ag Maschine mit einem entlang einer Traverse bewegbaren Maschinenelement
US8024068B2 (en) 2006-08-04 2011-09-20 Hurco Companies, Inc. Machine tool control system
US8725283B2 (en) * 2006-08-04 2014-05-13 Hurco Companies, Inc. Generalized kinematics system
CN101501589B (zh) * 2006-08-04 2011-11-23 赫克公司 用于工具使用管理的系统和方法
US7933677B2 (en) * 2006-08-04 2011-04-26 Hurco Companies, Inc. System and method for surface finish management
DE102007017578A1 (de) * 2007-04-13 2008-10-16 Kuka Roboter Gmbh Robotersteuerung, Industrieroboter und Verfahren zum Erhalten eines absolutgenauen Modells
US8473103B2 (en) * 2009-01-27 2013-06-25 Fanuc Robotics America, Inc. Secondary position feedback control of a robot
US8626329B2 (en) * 2009-11-20 2014-01-07 Agr Automation Ltd. Product assembly system and control software
US9669432B2 (en) 2013-08-27 2017-06-06 Te Connectivity Corporation Component feeding system
US9427872B1 (en) * 2014-12-21 2016-08-30 Google Inc. Devices and methods for encoder calibration
US10201901B2 (en) * 2015-01-29 2019-02-12 Canon Kabushiki Kaisha Robot apparatus, method for controlling robot, program, and recording medium
CN108602187A (zh) * 2015-09-09 2018-09-28 碳机器人公司 机械臂系统和物体躲避方法
JP6852450B2 (ja) * 2017-02-17 2021-03-31 セイコーエプソン株式会社 表示方法およびロボットシステム
JP7003454B2 (ja) * 2017-06-15 2022-01-20 オムロン株式会社 制御装置、位置制御システム、位置制御方法、および、位置制御プログラム

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DE3244307A1 (de) * 1982-11-30 1984-05-30 Siemens AG, 1000 Berlin und 8000 München Robotersteuerung
US4618938A (en) * 1984-02-22 1986-10-21 Kla Instruments Corporation Method and apparatus for automatic wafer inspection
DE3408523A1 (de) * 1984-03-08 1985-09-12 Siemens AG, 1000 Berlin und 8000 München Verfahren zur ueberwachung der durch die steuerung der antriebe einer rechnergesteuerten werkzeugmaschine oder eines industrieroboters erzeugten bahn
US4603284A (en) * 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
US4998206A (en) * 1988-07-29 1991-03-05 The Boeing Company Automated method and apparatus for fabricating sheet metal parts and the like using multiple manufacturing stations
US4714400A (en) * 1986-04-14 1987-12-22 Ibm Corporation Plural robotic drive
DE3635076A1 (de) * 1986-10-15 1988-04-28 Messerschmitt Boelkow Blohm Roboteranlage mit beweglichen manipulatoren
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US4916635A (en) * 1988-09-12 1990-04-10 Massachusetts Institute Of Technology Shaping command inputs to minimize unwanted dynamics
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Also Published As

Publication number Publication date
WO1997038361A1 (en) 1997-10-16
AU2437097A (en) 1997-10-29
DE19781682B4 (de) 2009-07-30
US5946449A (en) 1999-08-31

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Legal Events

Date Code Title Description
OP8 Request for examination as to paragraph 44 patent law
8125 Change of the main classification

Ipc: G05B 11/32

8607 Notification of search results after publication
8364 No opposition during term of opposition
R119 Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee