DE3277087D1 - Control system for robot hand - Google Patents

Control system for robot hand

Info

Publication number
DE3277087D1
DE3277087D1 DE8282108556T DE3277087T DE3277087D1 DE 3277087 D1 DE3277087 D1 DE 3277087D1 DE 8282108556 T DE8282108556 T DE 8282108556T DE 3277087 T DE3277087 T DE 3277087T DE 3277087 D1 DE3277087 D1 DE 3277087D1
Authority
DE
Germany
Prior art keywords
control system
robot hand
robot
hand
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.)
Expired
Application number
DE8282108556T
Other languages
English (en)
Inventor
Koichi Sugimoto
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.)
Hitachi Ltd
Original Assignee
Hitachi 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
Priority claimed from JP14939481A external-priority patent/JPS5851305A/ja
Priority claimed from JP14939381A external-priority patent/JPS5851304A/ja
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Application granted granted Critical
Publication of DE3277087D1 publication Critical patent/DE3277087D1/de
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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34098—Slope fitting, fairing contour, curve fitting, transition

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Computing Systems (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
DE8282108556T 1981-09-24 1982-09-16 Control system for robot hand Expired DE3277087D1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP14939481A JPS5851305A (ja) 1981-09-24 1981-09-24 ロボツトハンドの経路補間方式
JP14939381A JPS5851304A (ja) 1981-09-24 1981-09-24 ロボツトハンドの姿勢補間方式

Publications (1)

Publication Number Publication Date
DE3277087D1 true DE3277087D1 (en) 1987-10-01

Family

ID=26479302

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8282108556T Expired DE3277087D1 (en) 1981-09-24 1982-09-16 Control system for robot hand

Country Status (3)

Country Link
US (1) US4550383A (de)
EP (1) EP0075792B1 (de)
DE (1) DE3277087D1 (de)

Families Citing this family (46)

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JPS5927307A (ja) * 1982-08-04 1984-02-13 Hitachi Ltd 経路制御方法及び装置
JPS59218513A (ja) * 1983-05-26 1984-12-08 Fanuc Ltd 工業用ロボツトの円弧制御法
JPS59231607A (ja) * 1983-06-14 1984-12-26 Mitsubishi Electric Corp ロボツトの制御装置
JPS60107106A (ja) * 1983-11-15 1985-06-12 Mitsubishi Electric Corp 曲線補間装置
US5201630A (en) * 1984-09-07 1993-04-13 Sony Corporation Industrial robot with servo system
JPS61157909A (ja) * 1984-12-29 1986-07-17 Fanuc Ltd ロボツトの経路誤差補正方式
US4706204A (en) * 1985-03-05 1987-11-10 Mitsubishi Denki Kabushiki Kaisha Controller for movable robot for moving a work element through a continuous path
JPS62123504A (ja) * 1985-11-22 1987-06-04 Toshiba Mach Co Ltd ロボツトの制御方法
SU1777207A1 (ru) * 1986-05-19 1992-11-23 Bruss G Univ Im V I Leni Устройство для дистанционной передачи угла поворота вала
US5025405A (en) * 1986-08-15 1991-06-18 Hewlett-Packard Company Method of interpolating pixel values
US4884189A (en) * 1986-10-06 1989-11-28 Kabushiki Kaisha Yaskawa Denki Seisakusho Locus interpolation device
US4716350A (en) * 1986-12-08 1987-12-29 Ford Motor Company Method to avoid singularity in a robot mechanism
JPS63214810A (ja) * 1987-03-03 1988-09-07 Fanuc Ltd デジタイジング方法
US4821207A (en) * 1987-04-28 1989-04-11 Ford Motor Company Automated curvilinear path interpolation for industrial robots
JPS6435605A (en) * 1987-07-30 1989-02-06 Fanuc Ltd Numerical controller
US4906418A (en) * 1987-10-23 1990-03-06 Toyoda-Koki Kabushiki-Kaisha Method for teaching a machining line
DE3810662A1 (de) * 1988-03-29 1989-10-19 Agie Ag Ind Elektronik Verfahren und vorrichtung zur numerischen bahnsteuerung fuer elektroerodiermaschinen
JP2512099B2 (ja) * 1988-08-24 1996-07-03 松下電器産業株式会社 ロボットの動作教示方法および制御装置
JPH02113305A (ja) * 1988-10-24 1990-04-25 Fanuc Ltd スプライン補間方法
JPH02146607A (ja) * 1988-11-29 1990-06-05 Fanuc Ltd Ｎｃ移動指令補間方式
JPH02160487A (ja) * 1988-12-12 1990-06-20 Fanuc Ltd ロボット手動送り補正方式
JP2786225B2 (ja) * 1989-02-01 1998-08-13 株式会社日立製作所 工業用ロボットの制御方法及び装置
ES2080051T3 (es) * 1989-02-28 1996-02-01 Siemens Ag Procedimiento de control en una maquina herramienta numerica o un robot.
US5600759A (en) * 1989-03-20 1997-02-04 Fanuc Ltd. Robot capable of generating patterns of movement path
JP2874238B2 (ja) * 1990-01-23 1999-03-24 株式会社安川電機 多関節形ロボットの制御方法
DE59106878D1 (de) * 1990-03-30 1995-12-21 Siemens Ag Verfahren zur Steuerung von Positioniersystemen.
US5229698A (en) * 1990-08-06 1993-07-20 Cincinnati Milacron Inc. Method and apparatus for sub-span interpolation
WO1992002871A1 (en) * 1990-08-08 1992-02-20 Digital Arts Film & Television Pty. Ltd. Motion control system for cinematography
JPH04111006A (ja) * 1990-08-30 1992-04-13 Kobe Steel Ltd ロボットの経路補間方法
DE59009901D1 (de) * 1990-09-25 1996-01-04 Heidenhain Gmbh Dr Johannes Verfahren zur Ermittlung von Werkzeugbahnkonturen bei numerisch gesteuerten Maschinen.
EP0477398B1 (de) * 1990-09-25 1994-12-14 Dr. Johannes Heidenhain GmbH Verfahren für die Bearbeitung von Werkstücken mit numerisch gesteuerten Maschinen
US5396160A (en) * 1991-03-11 1995-03-07 General Motors Corporation Method of real-time machine path planning from a math model
US5438522A (en) * 1992-12-18 1995-08-01 Cincinnati Milacron Inc. Method and apparatus for sub-span interpolation
JP3665353B2 (ja) * 1993-09-14 2005-06-29 ファナック株式会社 ロボットの教示位置データの３次元位置補正量取得方法及びロボットシステム
SE9401012L (sv) * 1994-03-25 1995-09-26 Asea Brown Boveri Robotstyrsystem
JP4203696B2 (ja) * 1999-10-20 2009-01-07 株式会社安川電機 産業用機械の動作確認方法および装置
US7248012B2 (en) * 2003-06-02 2007-07-24 Honda Motor Co., Ltd. Teaching data preparing method for articulated robot
US8160743B2 (en) * 2005-08-16 2012-04-17 Brainlab Ag Anthropomorphic medical robot arm with movement restrictions
US8214415B2 (en) 2008-04-18 2012-07-03 Motion Engineering Incorporated Interpolator for a networked motion control system
EP2644334B1 (de) * 2010-11-26 2019-02-20 Rorze Corporation Robotersteuerungsvorrichtung und steuerungsverfahren
US8843235B2 (en) 2012-01-13 2014-09-23 Toyota Motor Engineering & Manufacturing North America, Inc. Robots, computer program products, and methods for trajectory plan optimization
US9014850B2 (en) 2012-01-13 2015-04-21 Toyota Motor Engineering & Manufacturing North America, Inc. Methods and computer-program products for evaluating grasp patterns, and robots incorporating the same
US9014857B2 (en) 2012-01-13 2015-04-21 Toyota Motor Engineering & Manufacturing North America, Inc. Methods and computer-program products for generating grasp patterns for use by a robot
JP7199073B2 (ja) * 2017-10-20 2023-01-05 株式会社キーレックス 垂直多関節ロボットの教示データ作成システム
CN109960178B (zh) * 2017-12-26 2020-10-16 深圳市优必选科技有限公司 机器人及其关节运动控制方法、装置
KR102296520B1 (ko) * 2020-12-18 2021-09-01 주식회사 카비 단안 카메라를 이용한 경로추정에 의한 곡선차선 검출 방법

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US30132A (en) * 1860-09-25 Improvement in hay-rakes
DE1638138A1 (de) * 1968-03-14 1971-06-09 Siemens Ag Verfahren und Vorrichtung zur Bahnsteuerung von Arbeitsmaschinen
US3909600A (en) * 1972-06-26 1975-09-30 Cincinnati Milacron Inc Method and apparatus for controlling an automation along a predetermined path
US3860805A (en) * 1973-05-07 1975-01-14 Bendix Corp Method and apparatus for producing a fairing contour in numerical control systems
USRE30132E (en) * 1973-07-09 1979-10-30 Unimation, Inc. Program control system for manipulator
US3920972A (en) * 1974-07-16 1975-11-18 Cincinnati Milacron Inc Method and apparatus for programming a computer operated robot arm
JPS586959B2 (ja) * 1976-08-20 1983-02-07 日本電信電話株式会社 曲線発生器
US4221997A (en) * 1978-12-18 1980-09-09 Western Electric Company, Incorporated Articulated robot arm and method of moving same
JPS5840761B2 (ja) * 1978-12-20 1983-09-07 工業技術院長 人間腕形マニピュレ−タの制御装置
US4445184A (en) * 1980-07-19 1984-04-24 Shin Meiwa Industry Co., Ltd. Articulated robot
US4409650A (en) * 1981-03-04 1983-10-11 Shin Meiwa Industry Co., Ltd. Automatic position controlling apparatus
US4432063A (en) * 1981-10-06 1984-02-14 Cincinnati Milacron Inc. Apparatus for automatically moving a robot arm along a nonprogrammed path

Also Published As

Publication number Publication date
EP0075792A3 (en) 1983-06-15
US4550383A (en) 1985-10-29
EP0075792B1 (de) 1987-08-26
EP0075792A2 (de) 1983-04-06

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition