DE3477523D1 - Control apparatus for multi-jointed arm mechanism - Google Patents

Control apparatus for multi-jointed arm mechanism

Info

Publication number
DE3477523D1
DE3477523D1 DE8484112503T DE3477523T DE3477523D1 DE 3477523 D1 DE3477523 D1 DE 3477523D1 DE 8484112503 T DE8484112503 T DE 8484112503T DE 3477523 T DE3477523 T DE 3477523T DE 3477523 D1 DE3477523 D1 DE 3477523D1
Authority
DE
Germany
Prior art keywords
control apparatus
arm mechanism
jointed arm
jointed
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
DE8484112503T
Other languages
English (en)
Inventor
Kohji Kamejima
Yoshiyuki Nakano
Masakatsu Fujie
Yuji Hosoda
Taro Iwamoto
Kazuo Honma
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
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Application granted granted Critical
Publication of DE3477523D1 publication Critical patent/DE3477523D1/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
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42162—Model reference adaptive control MRAC, correction fictive-real error, position
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49143—Obstacle, collision avoiding control, move so that no collision occurs

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE8484112503T 1983-10-17 1984-10-17 Control apparatus for multi-jointed arm mechanism Expired DE3477523D1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP58192352A JPS6085885A (ja) 1983-10-17 1983-10-17 多関節機構の制御装置

Publications (1)

Publication Number Publication Date
DE3477523D1 true DE3477523D1 (en) 1989-05-03

Family

ID=16289845

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8484112503T Expired DE3477523D1 (en) 1983-10-17 1984-10-17 Control apparatus for multi-jointed arm mechanism

Country Status (4)

Country Link
US (1) US4604561A (de)
EP (1) EP0142712B1 (de)
JP (1) JPS6085885A (de)
DE (1) DE3477523D1 (de)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3501968A1 (de) * 1985-01-22 1986-07-24 Siemens AG, 1000 Berlin und 8000 München Steuerungseinrichtung fuer eine mehrachsige werkzeugmaschine
EP0196483B1 (de) * 1985-03-29 1988-09-21 Siemens Aktiengesellschaft Lageregelsystem für rechnergesteuerte Arbeitsmaschinen
US4789940A (en) * 1985-08-30 1988-12-06 Texas Instruments Incorporated Method and apparatus for filtering reflections from direct images for mobile robot navigation
JPS62199385A (ja) * 1986-02-27 1987-09-03 株式会社東芝 マニピユレ−タの駆動装置
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
US4698572A (en) * 1986-04-04 1987-10-06 Westinghouse Electric Corp. Kinematic parameter identification for robotic manipulators
US4864206A (en) * 1986-11-20 1989-09-05 Westinghouse Electric Corp. Multiaxis robot control having improved energy monitoring system for protecting robots against joint motor overload
US4716350A (en) * 1986-12-08 1987-12-29 Ford Motor Company Method to avoid singularity in a robot mechanism
DE3866203D1 (de) * 1987-09-28 1991-12-19 Siemens Ag Verfahren zur numerisch gesteuerten lageregelung elektromotorisch angetriebener achsen.
JPH0760339B2 (ja) * 1987-11-30 1995-06-28 工業技術院長 制御装置
DE4000348A1 (de) * 1989-03-06 1990-09-13 Hewlett Packard Co Vorrichtung und verfahren zum ueberwachen der bewegungen eines vielgelenkigen roboters
US5055755A (en) * 1989-05-31 1991-10-08 Kabushiki Kaisha Toshiba Distribution control apparatus
JPH0366589A (ja) * 1989-05-31 1991-03-22 An Ey-Rang ロボットの駆動制御回路
JP3010583B2 (ja) * 1989-12-31 2000-02-21 株式会社エスジー 複数軸の同調制御方式
DE69619115T2 (de) * 1995-06-13 2003-01-02 Toyo Kohan Co Ltd Verfahren zum zuvorkommen von interferenz für industrierobotor
DE19650878C1 (de) * 1996-12-07 1998-07-30 Richter Hans Verfahren zum Regeln der Bewegungen mindestens eines Antriebselements eines Industrieroboters
US6212968B1 (en) * 1998-07-29 2001-04-10 Janome Sewing Machine Co., Ltd, SCARA robot
US9849926B2 (en) * 2014-07-23 2017-12-26 Boston Dynamics, Inc. Predictively adjustable hydraulic pressure rails
EP4219092A1 (de) * 2022-01-28 2023-08-02 Kassow Robots ApS Optimierte sicherheitsarchitektur in einem roboter

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3538315A (en) * 1967-04-17 1970-11-03 Pratt & Whitney Inc Numerical control system
BE724125A (fr) * 1968-11-19 1969-05-19 Acec Dispositif de commande de position
US3665168A (en) * 1970-12-18 1972-05-23 Gen Electric Adaptively controlled position prediction system
US3758762A (en) * 1972-07-10 1973-09-11 Leeds & Northrup Co Decoupled feedforward-feedback control system
JPS5413883A (en) * 1977-07-04 1979-02-01 Hitachi Ltd Abnormalness detector of automatic controller
US4201937A (en) * 1978-04-07 1980-05-06 Unimation, Inc. Control apparatus for programmable manipulator
SU1055863A1 (ru) * 1978-09-06 1983-11-23 Предприятие П/Я М-5973 Способ управлени буровым агрегатом и устройство дл его осуществлени
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
US4467436A (en) * 1981-10-26 1984-08-21 United States Robots, Inc. Robot arm controller with common bus memory
JPS58217294A (ja) * 1982-06-07 1983-12-17 株式会社日立製作所 産業用ロボツトの安全装置
US4502109A (en) * 1982-09-14 1985-02-26 Vickers, Incorporated Apparatus for estimating plural system variables based upon a single measured system variable and a mathematical system model
DE3244307A1 (de) * 1982-11-30 1984-05-30 Siemens AG, 1000 Berlin und 8000 München Robotersteuerung

Also Published As

Publication number Publication date
EP0142712B1 (de) 1989-03-29
JPS6085885A (ja) 1985-05-15
US4604561A (en) 1986-08-05
EP0142712A1 (de) 1985-05-29

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Legal Events

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