DE2330054C2 - - Google Patents

Info

Publication number
DE2330054C2
DE2330054C2 DE19732330054 DE2330054A DE2330054C2 DE 2330054 C2 DE2330054 C2 DE 2330054C2 DE 19732330054 DE19732330054 DE 19732330054 DE 2330054 A DE2330054 A DE 2330054A DE 2330054 C2 DE2330054 C2 DE 2330054C2
Authority
DE
Germany
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
DE19732330054
Other versions
DE2330054A1 (de
Inventor
Richard E. Cincinnati Ohio Us Hohn
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.)
CINCINNATI MILACRON INDUSTRIES, INC., CINCINNATI,
Original Assignee
Milacron 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
Priority to US26598472A priority Critical
Priority to US36438173 priority patent/US3909600A/en
Application filed by Milacron Inc filed Critical Milacron Inc
Publication of DE2330054A1 publication Critical patent/DE2330054A1/de
Application granted granted Critical
Publication of DE2330054C2 publication Critical patent/DE2330054C2/de
Application status is Expired legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1628Programme controls characterised by the control loop
    • B25J9/1651Programme controls characterised by the control loop acceleration, rate control
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical 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
    • G05B19/416Numerical 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 control of velocity, acceleration or deceleration
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/33Director till display
    • G05B2219/33099Computer numerical control [CNC]; Software control [SWC]
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/35Nc in input of data, input till input file format
    • G05B2219/35354Polar coordinates, turntable
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/35Nc in input of data, input till input file format
    • G05B2219/35543Cartesian to polar and vice versa
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/41Servomotor, servo controller till figures
    • G05B2219/41477Servo loop with analog position sensor for continuous path control
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/43Speed, acceleration, deceleration control ADC
    • G05B2219/43006Acceleration, deceleration control
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/45Nc applications
    • G05B2219/45051Transfer line
DE19732330054 1972-06-26 1973-06-13 Expired DE2330054C2 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US26598472A true 1972-06-26 1972-06-26
US36438173 US3909600A (en) 1972-06-26 1973-05-31 Method and apparatus for controlling an automation along a predetermined path

Publications (2)

Publication Number Publication Date
DE2330054A1 DE2330054A1 (de) 1974-01-17
DE2330054C2 true DE2330054C2 (de) 1982-05-13

Family

ID=26951534

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19732330054 Expired DE2330054C2 (de) 1972-06-26 1973-06-13

Country Status (6)

Country Link
US (1) US3909600A (de)
JP (1) JPS612964B2 (de)
CA (1) CA992652A (de)
DE (1) DE2330054C2 (de)
GB (1) GB1408666A (de)
NO (1) NO149366C (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008061153A1 (de) * 2008-12-09 2010-06-17 Renate Grünfeld Verfahren zur mehrdimensionalen automatischen, elektromotorischen Bewegung einer kartesisch geführten Sonde zu einem Objekt

Families Citing this family (70)

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US3920972A (en) * 1974-07-16 1975-11-18 Cincinnati Milacron Inc Method and apparatus for programming a computer operated robot arm
IT1043940B (it) * 1974-12-20 1980-02-29 Fiat Spa Apparecchaitura per il controllo di una macchina operatrice del tipo robot
US3986007A (en) * 1975-08-20 1976-10-12 The Bendix Corporation Method and apparatus for calibrating mechanical-visual part manipulating system
IT1047161B (it) * 1975-09-03 1980-09-10 Olivetti & Co Spa Centro di lavorazione per automazione programmabile con dispositivo tattile autoadattivo
US4163183A (en) * 1975-10-28 1979-07-31 Unimation, Inc. Programmable automatic assembly system
US4115858A (en) * 1976-01-12 1978-09-19 Houdaille Industries, Inc. Machine tool controller employing microprocessor system for controlling Z axis
SE401637B (sv) * 1976-03-29 1978-05-22 Asea Ab Forfarande och anordning for att bringa en industrirobot att utfora en komplex rorelse
DE2656433C3 (de) * 1976-12-14 1983-11-17 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V., 8000 Muenchen, De
DE2745404A1 (de) * 1977-10-08 1979-06-13 Grisebach Hans Theodor Handhabungsgeraet
EP0003025B1 (de) * 1977-12-08 1984-04-18 Siemens Aktiengesellschaft Regelung für Drehwerks- oder Hubwerksantriebe eines Krans
US4178632A (en) * 1978-03-06 1979-12-11 Cincinnati Milacron Inc. Method for controlling the operation of a computer operated robot arm
US4338672A (en) * 1978-04-20 1982-07-06 Unimation, Inc. Off-line teach assist apparatus and on-line control apparatus
JPS5840761B2 (de) * 1978-12-20 1983-09-07 Kogyo Gijutsuin
US4258425A (en) * 1979-03-08 1981-03-24 A. O. Smith Corporation Self-programmed mechanical working apparatus
JPS5621794A (en) * 1979-07-30 1981-02-28 Fujitsu Fanuc Ltd Controlling system for industrial robot
US4420812A (en) * 1979-09-14 1983-12-13 Tokico, Ltd. Teaching- playback robot
US4509143A (en) * 1980-01-14 1985-04-02 Mitsubishi Denki Kabushiki Kaisha Computer control system for selecting a desired control program from a plurality of control programs
US4445184A (en) * 1980-07-19 1984-04-24 Shin Meiwa Industry Co., Ltd. Articulated robot
US4356554A (en) * 1980-09-12 1982-10-26 Thermwood Corporation Method and apparatus for compensating for system error in an industrial robot control
DE3038436C2 (de) * 1980-10-11 1985-08-29 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg, De
JPS5773402A (en) * 1980-10-23 1982-05-08 Fanuc Ltd Numerical control system
US4379335A (en) * 1980-10-28 1983-04-05 Auto-Place, Inc. Electronic controller and portable programmer system for a pneumatically-powered point-to-point robot
DE3050664C2 (de) * 1980-12-18 1988-04-14 Kaunassk Polt Inst Antanasa Verfahren zur Bewegung eines Punktes in eine Lage,deren Koordinaten in einem orthogonalen System vorgegeben sind und Vorrichtung zur Druchf}hrung dieses Verfahrens
JPS57113111A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57113114A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS584377A (en) * 1981-03-18 1983-01-11 Yaskawa Denki Seisakusho Kk Controller for articulated industrial robot
US4403281A (en) * 1981-04-03 1983-09-06 Cincinnati Milacron Industries, Inc. Apparatus for dynamically controlling the tool centerpoint of a robot arm off a predetermined path
JPS57175692A (en) * 1981-04-21 1982-10-28 Takenaka Komuten Co Crane having automatic positioning controlling function
IT1144707B (it) * 1981-05-15 1986-10-29 Dea Spa Unita a braccio operativo controllata da un sistema a calcolatore
DE3277087D1 (de) * 1981-09-24 1987-10-01 Hitachi Ltd Control system for robot hand
JPS5856003A (en) * 1981-09-30 1983-04-02 Hitachi Ltd Controlling method for industrial robot
JPH0695294B2 (ja) * 1981-10-05 1994-11-24 株式会社日立製作所 産業用ロボットの軌跡補間方法
US4486840A (en) * 1981-10-14 1984-12-04 Houdaille Industries, Inc. Computer numeric control for metal forming
US4488241A (en) * 1981-12-08 1984-12-11 Zymark Corporation Robot system with interchangeable hands
JPH0144476B2 (de) * 1982-02-19 1989-09-27 Hitachi Ltd
JPS6348661B2 (de) * 1982-03-05 1988-09-30 Okuma Machinery Works Ltd
JPS58177289A (en) * 1982-04-12 1983-10-17 Sankyo Seiki Seisakusho Kk Controller for operation of industrial robot
US4453221A (en) * 1982-05-13 1984-06-05 Cincinnati Milacron Inc. Manipulator with adaptive velocity controlled path motion
US4506335A (en) * 1982-06-10 1985-03-19 Cincinnati Milacron Inc. Manipulator with controlled path motion
SE452719B (sv) * 1982-06-29 1987-12-14 Asea Ab Industrirobot
EP0108511A3 (de) * 1982-11-04 1985-12-18 EMI Limited Roboter-Steuerungssysteme
JPS59107884A (en) * 1982-12-10 1984-06-22 Hitachi Ltd Control system of robot
JPH0127442B2 (de) * 1982-12-22 1989-05-29 Hitachi Ltd
JPS59189415A (en) * 1983-04-13 1984-10-27 Hitachi Ltd Method and device for teaching motion of industrial robot
JPS59218513A (en) * 1983-05-26 1984-12-08 Fanuc Ltd Arc control method of industrial robot
US4547858A (en) * 1983-06-13 1985-10-15 Allied Corporation Dynamic control for manipulator
US4661039A (en) * 1983-10-20 1987-04-28 Donaldson Company Flexible-frame robot
JPS60175108A (en) * 1984-02-20 1985-09-09 Fanuc Ltd Constant speed control method
US4734866A (en) * 1984-07-05 1988-03-29 Siemens Aktiengesellschaft Computer controller for an industrial multiaxis robot
US4598380A (en) * 1984-08-13 1986-07-01 Cincinnati Milacron Inc. Method and apparatus for controlling manipulator and workpiece positioner
JPS61110204A (en) * 1984-11-02 1986-05-28 Hitachi Ltd Controlling method of automated device
US4718078A (en) * 1985-08-19 1988-01-05 Siemens Aktiengesellschaft System for controlling motion of a robot
US5022952A (en) * 1985-12-13 1991-06-11 Cincinnati Milacron Inc. Fiber placement machine
US4920500A (en) * 1986-02-25 1990-04-24 Trallfa Robot A/S Method and robot installation for programmed control of a working tool
JPH0789286B2 (ja) * 1986-02-28 1995-09-27 株式会社日立製作所 多関節マニピユレ−タの作業原点決定方法
JP2506760B2 (ja) * 1986-05-12 1996-06-12 松下電器産業株式会社 ロボットの制御装置
JPH0781455B2 (ja) * 1987-07-07 1995-08-30 東京エレクトロン東北株式会社 熱処理炉のスカベンジャードア
US4835710A (en) * 1987-07-17 1989-05-30 Cincinnati Milacron Inc. Method of moving and orienting a tool along a curved path
JP2511072B2 (ja) * 1987-10-23 1996-06-26 三菱重工業株式会社 ロボットにおける教示デ―タの記録・再生方法
US5062755A (en) * 1988-02-23 1991-11-05 Macmillan Bloedel Limited Articulated arm control
JP2664205B2 (ja) * 1988-06-10 1997-10-15 株式会社日立製作所 マニピュレータ制御システム
JP2824588B2 (ja) * 1989-08-24 1998-11-11 株式会社エスジー サーボモータ同期制御方式
US5110395A (en) * 1989-12-04 1992-05-05 Cincinnati Milacron Inc. Fiber placement head
WO1992022024A1 (en) * 1991-06-04 1992-12-10 Anca Pty. Ltd. Improved control of cnc machine tools
US5410638A (en) * 1993-05-03 1995-04-25 Northwestern University System for positioning a medical instrument within a biotic structure using a micromanipulator
SE501867C2 (sv) * 1993-11-15 1995-06-12 Asea Brown Boveri Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp
US5584646A (en) * 1994-08-31 1996-12-17 Wiseda Ltd. Handling apparatus
JP2000066706A (ja) * 1998-08-21 2000-03-03 Matsushita Electric Ind Co Ltd ロボット制御装置とその制御方法
US7097540B1 (en) 2005-05-26 2006-08-29 General Electric Company Methods and apparatus for machining formed parts to obtain a desired profile
US20080058990A1 (en) * 2006-08-31 2008-03-06 General Electric Company Robotic programming control using multiple binary input

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US3123657A (en) * 1964-03-03 Automatic control apparatus
US3128374A (en) * 1960-12-08 1964-04-07 Bendix Corp Control system
US3543910A (en) * 1968-07-30 1970-12-01 George C Devol Work-head automatic motions controls
US3656124A (en) * 1968-09-26 1972-04-11 Giddings & Lewis Linear and circular interpolation contouring control using repeated computation
US3618742A (en) * 1970-05-18 1971-11-09 Stanley J Blanchard Automatic object adjustment
US3699317A (en) * 1970-05-22 1972-10-17 Westinghouse Electric Corp Sampled data numerical contouring machine controller apparatus and method providable with on line capability for contour cornering deceleration and acceleration
DE2155267C3 (de) * 1971-11-06 1980-01-31 Indramat Gesellschaft Fuer Industrie- Rationalisierung Und Automatisierung Mbh, 8770 Lohr
US3843875A (en) * 1973-03-07 1974-10-22 Remington Arms Co Inc Numerical control checkering system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008061153A1 (de) * 2008-12-09 2010-06-17 Renate Grünfeld Verfahren zur mehrdimensionalen automatischen, elektromotorischen Bewegung einer kartesisch geführten Sonde zu einem Objekt

Also Published As

Publication number Publication date
NO149366C (no) 1984-04-04
CA992652A1 (de)
GB1408666A (en) 1975-10-01
US3909600A (en) 1975-09-30
NO149366B (no) 1983-12-27
JPS4950376A (de) 1974-05-16
JPS612964B2 (de) 1986-01-29
DE2330054A1 (de) 1974-01-17
CA992652A (en) 1976-07-06

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Legal Events

Date Code Title Description
D2 Grant after examination
8363 Opposition against the patent
8327 Change in the person/name/address of the patent owner

Owner name: CINCINNATI MILACRON INDUSTRIES, INC., CINCINNATI,

8328 Change in the person/name/address of the agent

Free format text: BROSE, D., DIPL.-ING., PAT.-ANW., 8023 PULLACH

8327 Change in the person/name/address of the patent owner

Owner name: CINCINNATI MILACRON INC. (EINE GES. N.D. GESETZEN

8328 Change in the person/name/address of the agent

Free format text: BROSE, D., DIPL.-ING. RESCH, M., DIPL.-PHYS., PAT.-ANW., 8023 PULLACH

8331 Complete revocation