DE2312796C3 - Schaltungsanordnung zur Eliminierung unerwünschter Koppelbewegungen zwischen den Gliedern eines mit Programmsteuerung arbeitenden Manipulators - Google Patents
Schaltungsanordnung zur Eliminierung unerwünschter Koppelbewegungen zwischen den Gliedern eines mit Programmsteuerung arbeitenden ManipulatorsInfo
- Publication number
- DE2312796C3 DE2312796C3 DE2312796A DE2312796A DE2312796C3 DE 2312796 C3 DE2312796 C3 DE 2312796C3 DE 2312796 A DE2312796 A DE 2312796A DE 2312796 A DE2312796 A DE 2312796A DE 2312796 C3 DE2312796 C3 DE 2312796C3
- Authority
- DE
- Germany
- Prior art keywords
- circuit arrangement
- signals
- actual value
- arrangement according
- signal
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/14—Control of position or direction using feedback using an analogue comparing device
-
- 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
- G05B2219/39177—Compensation position working point as function of inclination tool, hand
-
- 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
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42186—Master slave, motion proportional to axis
-
- 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)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Control Of Position Or Direction (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2611172A JPS5425196B2 ( ) | 1972-03-16 | 1972-03-16 |
Publications (3)
Publication Number | Publication Date |
---|---|
DE2312796A1 DE2312796A1 (de) | 1973-09-27 |
DE2312796B2 DE2312796B2 (de) | 1979-03-15 |
DE2312796C3 true DE2312796C3 (de) | 1979-10-31 |
Family
ID=12184462
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE2312796A Expired DE2312796C3 (de) | 1972-03-16 | 1973-03-15 | Schaltungsanordnung zur Eliminierung unerwünschter Koppelbewegungen zwischen den Gliedern eines mit Programmsteuerung arbeitenden Manipulators |
Country Status (5)
Country | Link |
---|---|
US (1) | US3845284A ( ) |
JP (1) | JPS5425196B2 ( ) |
DE (1) | DE2312796C3 ( ) |
GB (1) | GB1381563A ( ) |
IT (1) | IT983558B ( ) |
Families Citing this family (42)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3934186A (en) * | 1972-03-07 | 1976-01-20 | Mitsubishi Jukogyo Kabushiki Kaisha | Program control system for robots for industrial use |
JPS5815801B2 (ja) * | 1974-03-18 | 1983-03-28 | 株式会社日立製作所 | 工業用ロボツトの軌跡制御方式 |
DE2435156C2 (de) * | 1974-07-22 | 1983-09-01 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Programmgesteuerter Manipulator |
SE416452B (sv) * | 1975-06-16 | 1981-01-05 | Asea Ab | Industrirobot |
JPS6038721B2 (ja) * | 1975-08-20 | 1985-09-03 | 株式会社日立製作所 | 工業用ロボットの制後方法 |
JPS571116Y2 ( ) * | 1978-01-31 | 1982-01-08 | ||
US4224501A (en) * | 1978-02-27 | 1980-09-23 | Unimation, Inc. | Teaching arrangement for programmable manipulator |
FR2429062A1 (fr) * | 1978-06-22 | 1980-01-18 | Voisin Ets A | Dispositif de prelevement, de transfert et de coulee d'un metal en fusion |
US4274778A (en) * | 1979-06-05 | 1981-06-23 | Putnam Paul S | Mechanized stand handling apparatus for drilling rigs |
JPS57113117A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
US4375854A (en) * | 1981-03-31 | 1983-03-08 | Rca Corporation | Stone sorting apparatus and method |
US4433382A (en) * | 1981-07-20 | 1984-02-21 | Cincinnati Milacron Inc. | Apparatus for automatically adjusting the programmed location of a robot arm |
FR2516843B1 (fr) * | 1981-11-24 | 1985-10-25 | Calhene | Dispositif d'actionnement et son application a un asservissement de position pour un telemanipulateur maitre-esclave |
FR2519690A1 (fr) * | 1982-01-11 | 1983-07-18 | Montabert Ets | Dispositif d'asservissement electro-hydraulique de bras-support articule pour glissiere d'appareil de foration |
DE3213332C2 (de) * | 1982-04-06 | 1986-03-13 | O & K Orenstein & Koppel Ag, 1000 Berlin | Verfahren zur Horizontalsteuerung des Lastanlenkpunktes eines Gelenkkranes mit senkrechten Drehachsen |
US4621974A (en) * | 1982-08-17 | 1986-11-11 | Inpro Technologies, Inc. | Automated pipe equipment system |
CA1184273A (en) * | 1982-09-23 | 1985-03-19 | Kazuyoshi Yasukawa | Robot control apparatus |
JPS59108691A (ja) * | 1982-12-13 | 1984-06-23 | 株式会社日立製作所 | バランサ制御方式 |
DE3247789A1 (de) * | 1982-12-23 | 1984-06-28 | GASA-Produktion GmbH, 8752 Hösbach | Vorrichtung zum manipulieren eines gegenstandes |
US4547858A (en) * | 1983-06-13 | 1985-10-15 | Allied Corporation | Dynamic control for manipulator |
SE8304100L (sv) * | 1983-07-22 | 1985-01-23 | Ibm Svenska Ab | System for automatisk kalibrering av rymdkoordinaterna hos en robotgripper i sex frihetsgrader |
GB8319892D0 (en) * | 1983-07-23 | 1983-08-24 | Ae Plc | Machine tool control |
GB8324866D0 (en) * | 1983-09-16 | 1983-10-19 | Cambridge Electronic Ind | Control of robots |
SE455683B (sv) * | 1983-10-31 | 1988-08-01 | Asea Ab | Automatrobot, serskilt for svetsning |
JPS60169905A (ja) * | 1984-02-15 | 1985-09-03 | Hitachi Constr Mach Co Ltd | テイ−チングプレイバツク装置 |
USRE32854E (en) * | 1984-06-04 | 1989-02-07 | Eoa Systems, Inc. | Adapter with modular components for a robot end-of-arm interchangeable tooling system |
US4611377A (en) * | 1984-06-04 | 1986-09-16 | Eoa Systems, Inc. | Interchangeable robot end-of-arm tooling system |
US4676142A (en) * | 1984-06-04 | 1987-06-30 | Eoa Systems, Inc. | Adapter with modular components for a robot end-of-arm interchangeable tooling system |
US4629955A (en) * | 1985-09-04 | 1986-12-16 | French Daniel B | Method and apparatus for machine control |
US4714400A (en) * | 1986-04-14 | 1987-12-22 | Ibm Corporation | Plural robotic drive |
JPS63190583A (ja) * | 1987-01-29 | 1988-08-08 | Fanuc Ltd | 速度制御方式 |
JPS6428705A (en) * | 1987-07-24 | 1989-01-31 | Yaskawa Denki Seisakusho Kk | Command generating system |
US4796357A (en) * | 1988-02-16 | 1989-01-10 | International Business Machines Corporation | Method and apparatus for positioning electrical components |
US5047700A (en) * | 1988-03-23 | 1991-09-10 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Universal computer control system for motors |
EP0707726A4 (en) * | 1993-07-09 | 1998-07-15 | Akzo Nobel Nv | MEMORY CONTROL DEVICE FOR DOSING APPARATUS |
JPH11175118A (ja) * | 1997-10-08 | 1999-07-02 | Denso Corp | ロボット制御装置 |
ATE357998T1 (de) * | 1997-12-17 | 2007-04-15 | Moog Fcs B V | Fernsteuerungssystem zur fernmanipulation und fernsteuerungsanordnung, die diesen verwendt |
US5945798A (en) * | 1998-08-27 | 1999-08-31 | Eastman Kodak Company | System for determining part presence and grip pressure for a robotic gripping device |
US7979160B2 (en) * | 2007-07-31 | 2011-07-12 | Spirit Aerosystems, Inc. | System and method for robotic accuracy improvement |
CN102259337B (zh) * | 2010-05-28 | 2013-11-06 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
US8983660B1 (en) * | 2012-10-01 | 2015-03-17 | Kla-Tencor Corporation | Substrate transporter |
CN105965528A (zh) * | 2016-06-30 | 2016-09-28 | 殷霄 | 一种教学机器人抓手操作机构 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3306471A (en) * | 1964-05-19 | 1967-02-28 | George C Devol | Programmed apparatus |
US3306442A (en) * | 1964-11-02 | 1967-02-28 | George C Devol | Multi-program apparatus |
US3543947A (en) * | 1968-07-30 | 1970-12-01 | George C Devol | Constant-aim work head |
US3589134A (en) * | 1969-10-30 | 1971-06-29 | Westinghouse Electric Corp | Manipulator apparatus |
JPS526429B2 ( ) * | 1971-07-07 | 1977-02-22 | ||
US3712481A (en) * | 1971-12-23 | 1973-01-23 | Mc Donnell Douglas Corp | Actuator |
-
1972
- 1972-03-16 JP JP2611172A patent/JPS5425196B2/ja not_active Expired
-
1973
- 1973-03-07 GB GB1105273A patent/GB1381563A/en not_active Expired
- 1973-03-15 IT IT21682/73A patent/IT983558B/it active
- 1973-03-15 DE DE2312796A patent/DE2312796C3/de not_active Expired
- 1973-03-15 US US00341794A patent/US3845284A/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
US3845284A (en) | 1974-10-29 |
JPS5425196B2 ( ) | 1979-08-25 |
IT983558B (it) | 1974-11-11 |
GB1381563A (en) | 1975-01-22 |
DE2312796A1 (de) | 1973-09-27 |
JPS4892783A ( ) | 1973-12-01 |
DE2312796B2 (de) | 1979-03-15 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
C3 | Grant after two publication steps (3rd publication) | ||
8327 | Change in the person/name/address of the patent owner |
Owner name: KABUSHIKI KAISHA TOSHIBA, KAWASAKI, KANAGAWA, JP |