DE3373177D1 - Robot operation control system - Google Patents

Robot operation control system

Info

Publication number
DE3373177D1
DE3373177D1 DE8383111828T DE3373177T DE3373177D1 DE 3373177 D1 DE3373177 D1 DE 3373177D1 DE 8383111828 T DE8383111828 T DE 8383111828T DE 3373177 T DE3373177 T DE 3373177T DE 3373177 D1 DE3373177 D1 DE 3373177D1
Authority
DE
Germany
Prior art keywords
control system
operation control
robot operation
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.)
Expired
Application number
DE8383111828T
Other languages
English (en)
Inventor
Yuhiko Yabe
Hideo Uzuhashi
Yoshiaki Yoshikawa
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 JP57206186A external-priority patent/JPS5998206A/ja
Priority claimed from JP4068883A external-priority patent/JPS59169778A/ja
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Application granted granted Critical
Publication of DE3373177D1 publication Critical patent/DE3373177D1/de
Expired 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
    • B25J9/02—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • 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
    • G05B2219/33—Director till display
    • G05B2219/33074—Calculation loop, first one slow changing value, then several quick varying values
    • 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
    • G05B2219/33—Director till display
    • G05B2219/33337—For each axis a processor, microprocessor
    • 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
    • G05B2219/42122—First open loop, then closed loop
    • 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
    • G05B2219/42268—Safety, excess in error
DE8383111828T 1982-11-26 1983-11-25 Robot operation control system Expired DE3373177D1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP57206186A JPS5998206A (ja) 1982-11-26 1982-11-26 ロボツトの動作制御装置
JP4068883A JPS59169778A (ja) 1983-03-14 1983-03-14 ロボツトの動作制御装置

Publications (1)

Publication Number Publication Date
DE3373177D1 true DE3373177D1 (en) 1987-10-01

Family

ID=26380193

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8383111828T Expired DE3373177D1 (en) 1982-11-26 1983-11-25 Robot operation control system

Country Status (4)

Country Link
US (1) US4633414A (de)
EP (1) EP0110347B1 (de)
KR (1) KR900003637B1 (de)
DE (1) DE3373177D1 (de)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU595163B2 (en) * 1984-09-07 1990-03-29 Sony Corporation Industrial robot with servo system
GB8512056D0 (en) * 1985-05-13 1985-06-19 Universal Machine Intelligence Robotic arm
WO1987005721A1 (en) * 1986-03-14 1987-09-24 Fanuc Ltd Robot controller
JPS62232006A (ja) * 1986-04-02 1987-10-12 Yokogawa Electric Corp ロボツト・システム
US4829219A (en) * 1986-11-20 1989-05-09 Unimation Inc. Multiaxis robot having improved motion control through variable acceleration/deceleration profiling
EP0269374A3 (de) * 1986-11-20 1988-08-24 Unimation Inc. Modules Kontrollsystem für einen Roboter
EP0269372A3 (de) * 1986-11-20 1988-08-17 Unimation Inc. Roboter mit mikroprozessorgestützter Digitalkontrolle
US4774445A (en) * 1986-11-20 1988-09-27 Unimation, Inc. Multiaxis robot control having capability for executing timed moves
EP0268491A3 (de) * 1986-11-20 1988-08-03 Unimation Inc. Vielachsenroboter mit Bewegungskontrolle
US4908556A (en) * 1986-11-20 1990-03-13 Unimation Inc. Modular robot control system
US4786847A (en) * 1986-11-20 1988-11-22 Unimation Inc. Digital control for multiaxis robots
US4772831A (en) * 1986-11-20 1988-09-20 Unimation, Inc. Multiaxis robot control having improved continuous path operation
EP0269373A3 (de) * 1986-11-20 1988-08-17 Unimation Inc. Steuerung eines Mehrachsenroboters mit Schutzsystem mit Überwachung von Leistung und Geschwindigkeit
US4816730A (en) * 1986-12-22 1989-03-28 E. I. Du Pont De Nemours And Company Autosampler
US4884941A (en) * 1987-03-30 1989-12-05 Regents Of The University Of Minnesota Active compliant end-effector with force, angular position, and angular velocity sensing
JPS63316207A (ja) * 1987-06-19 1988-12-23 Fanuc Ltd 産業用ロボット制御装置
JPS6464791A (en) * 1987-09-01 1989-03-10 Mitsubishi Electric Corp Joint device for industrial robot
US4845627A (en) * 1987-10-01 1989-07-04 Eaton Corporation Remote programmable controller
EP0312119A3 (de) * 1987-10-16 1989-05-31 Nissan Motor Co., Ltd. Dreidimensionaler Messroboter
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
DE4000348A1 (de) * 1989-03-06 1990-09-13 Hewlett Packard Co Vorrichtung und verfahren zum ueberwachen der bewegungen eines vielgelenkigen roboters
GB2256290B (en) * 1991-05-27 1994-07-20 Honda Motor Co Ltd Servomotor control system for multi-axes
JPH08216082A (ja) * 1995-02-15 1996-08-27 Yaskawa Electric Corp ロボット装置
US6522096B1 (en) * 1997-05-28 2003-02-18 Kuka Roboter Gmbh Control circuit for a robot power supply
US6212968B1 (en) * 1998-07-29 2001-04-10 Janome Sewing Machine Co., Ltd, SCARA robot
JP2003117877A (ja) * 2001-10-17 2003-04-23 Japan Servo Co Ltd 多関節型の産業用ロボット
ITVI20020053A1 (it) * 2002-03-22 2003-09-22 Qem Srl Sistema integrato di controllo degli assi di macchinari industriali
TW200523703A (en) * 2003-12-01 2005-07-16 Unisearch Ltd A method for controlling a system formed from interdependent units
US8000837B2 (en) 2004-10-05 2011-08-16 J&L Group International, Llc Programmable load forming system, components thereof, and methods of use
WO2010069377A1 (en) * 2008-12-18 2010-06-24 Abb Technology Ab A kit and a method
JP5792988B2 (ja) * 2011-04-25 2015-10-14 ヤマハ発動機株式会社 スカラ型ロボット
WO2017060734A1 (en) * 2015-10-09 2017-04-13 Automata Technologies Limited Robot arm
JP6506324B2 (ja) 2017-02-16 2019-04-24 ファナック株式会社 水平多関節型ロボットとその設置反転方法
CN110065064A (zh) * 2018-01-24 2019-07-30 南京机器人研究院有限公司 一种机器人分拣控制方法

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3689892A (en) * 1970-03-18 1972-09-05 Electroglas Inc Electronic control apparatus having learn and automatic operate modes
US3668498A (en) * 1971-04-20 1972-06-06 Atlas Automation Transfer apparatus with digital path control
IT1043940B (it) * 1974-12-20 1980-02-29 Fiat Spa Apparecchaitura per il controllo di una macchina operatrice del tipo robot
US4115684A (en) * 1976-06-17 1978-09-19 Unimation Portable, programmable manipulator apparatus
FR2398347A1 (fr) * 1977-07-19 1979-02-16 Crouzet Sa Perfectionnements aux robots
DE2852821B1 (de) * 1978-12-07 1980-04-30 Walter Reis Maschinenbau, 8753 Obernburg Manipulator
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
JPS57120112A (en) * 1980-12-22 1982-07-27 Fujitsu Ltd Locus control method of arm
GB2107903B (en) * 1981-09-23 1985-07-17 Copperweld Robotics Inc Mechanical handling apparatus
US4467436A (en) * 1981-10-26 1984-08-21 United States Robots, Inc. Robot arm controller with common bus memory

Also Published As

Publication number Publication date
KR900003637B1 (ko) 1990-05-28
KR840006459A (ko) 1984-11-30
US4633414A (en) 1986-12-30
EP0110347A1 (de) 1984-06-13
EP0110347B1 (de) 1987-08-26

Similar Documents

Publication Publication Date Title
DE3377388D1 (en) Robot control system
DE3373177D1 (en) Robot operation control system
DE3277087D1 (en) Control system for robot hand
DE3279928D1 (en) Robot locus control system
DE3365240D1 (en) Robot system
DE3478824D1 (en) Control system for mobile robot
GB2086085B (en) Programmable manipulator control system
GB8321225D0 (en) Robot system
EP0067877A4 (de) Roboter-steuersystem.
GB2093608B (en) Robot control system
EP0188109A3 (en) Robot control system
GB8527808D0 (en) Control system
AU552097B2 (en) Robot control apparatus
DE3469858D1 (en) Operation control apparatus for robots
GB2123178B (en) Splice-in-register control
DE3376446D1 (en) Pneumatic control system
DE3271350D1 (en) Robot system
JPS57165306A (en) Vermicidal control for epizoons
GB8323277D0 (en) Control system for air-conditioner
DE3379429D1 (en) Numerical control system
JPS57149181A (en) Controller for robot
GB8317588D0 (en) Position control system
GB8323242D0 (en) Elevator control system
JPS57173486A (en) Controlling system for robot
GB2122297B (en) Control devices

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee