DE3482450D1 - Verfahren und steuersystem zur steuerung eines industrieroboters. - Google Patents

Verfahren und steuersystem zur steuerung eines industrieroboters.

Info

Publication number
DE3482450D1
DE3482450D1 DE8484850103T DE3482450T DE3482450D1 DE 3482450 D1 DE3482450 D1 DE 3482450D1 DE 8484850103 T DE8484850103 T DE 8484850103T DE 3482450 T DE3482450 T DE 3482450T DE 3482450 D1 DE3482450 D1 DE 3482450D1
Authority
DE
Germany
Prior art keywords
controlling
control system
industrial robot
robot
industrial
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 - Lifetime
Application number
DE8484850103T
Other languages
English (en)
Inventor
Lars Lindstroem
Kent Nilsson
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.)
ABB Norden Holding AB
Original Assignee
ASEA AB
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 ASEA AB filed Critical ASEA AB
Application granted granted Critical
Publication of DE3482450D1 publication Critical patent/DE3482450D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • G05B19/42—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
    • G05B19/427—Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/287—Supporting devices for electrode holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B25J13/065—Control stands, e.g. consoles, switchboards comprising joy-sticks
    • 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
    • G05B19/4093—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
    • G05B19/40931—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine concerning programming of geometry
    • G05B19/40936—Defining geometry with a high level language
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35438—Joystick
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36078—Insert, read in new command instruction to modify fixed program
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36495—Recording position and other parameters, current, tool diameter, voltage
    • 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
    • G05B2219/45135—Welding
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Geometry (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Plasma & Fusion (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE8484850103T 1983-04-08 1984-03-30 Verfahren und steuersystem zur steuerung eines industrieroboters. Expired - Lifetime DE3482450D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE8301964A SE455387B (sv) 1983-04-08 1983-04-08 Sett och anordning for styrning av en svetsrobot med hjelp av ett flerfunktionsmanoverorgan (styrspak) samt anvendning av ett dylikt manoverorgan

Publications (1)

Publication Number Publication Date
DE3482450D1 true DE3482450D1 (de) 1990-07-19

Family

ID=20350721

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8484850103T Expired - Lifetime DE3482450D1 (de) 1983-04-08 1984-03-30 Verfahren und steuersystem zur steuerung eines industrieroboters.

Country Status (5)

Country Link
US (1) US4578562A (de)
EP (1) EP0125219B1 (de)
JP (1) JPS59200311A (de)
DE (1) DE3482450D1 (de)
SE (1) SE455387B (de)

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2684359B2 (ja) * 1985-02-22 1997-12-03 ファナック 株式会社 ロボットのワーク直交座標系設定装置
JPH0724936B2 (ja) * 1986-01-08 1995-03-22 株式会社日立製作所 自動溶接装置
US4757459A (en) * 1986-05-29 1988-07-12 Cincinnati Milacron Inc. Apparatus and method for programming a computer operated robot arm using macro instructions
JPS6349367A (ja) * 1986-08-13 1988-03-02 Hitachi Ltd 配管用プラズマ自動溶接方法、及びその装置
US4804897A (en) * 1987-08-19 1989-02-14 Hewlett-Packard Company Orientation-dependant robot controller
US4845992A (en) * 1987-12-22 1989-07-11 Dean Michael J Method and apparatus for bending rotor vanes
GB8820780D0 (en) * 1988-09-02 1988-10-05 Valiant Technology Ltd Programmable robot device
GB8823217D0 (en) * 1988-10-04 1988-11-09 Gen Electric Manufacturing process control
US5079491A (en) * 1989-05-23 1992-01-07 Honda Giken Kogyo Kabushiki Kaisha Robot control system
US5182557A (en) * 1989-09-20 1993-01-26 Semborg Recrob, Corp. Motorized joystick
DE69104149T3 (de) * 1990-07-10 1998-02-26 Daifuku Kk Steuerungssystem für automatische Warenhauseinrichtungen.
US5062594A (en) * 1990-11-29 1991-11-05 The United States Of America As Represented By The Secretary Of The Air Force Flight control system with tactile feedback
FR2674780B1 (fr) * 1991-04-08 1995-06-23 Aro Installation de commande d'un outillage comportant une pince commandee par un systeme de positionnement automatique.
US5231693A (en) * 1991-05-09 1993-07-27 The United States Of America As Represented By The Administrator, National Aeronautics And Space Administration Telerobot control system
JPH06297146A (ja) * 1993-04-13 1994-10-25 Fanuc Ltd アーク溶接ロボットの溶接条件自動調整方法
US5708253A (en) * 1995-06-07 1998-01-13 Hill Technical Services, Inc. Apparatus and method for computerized interactive control, measurement and documentation of arc welding
US5908458A (en) * 1997-02-06 1999-06-01 Carnegie Mellon Technical Transfer Automated system and method for control of movement using parameterized scripts
SE511463C2 (sv) 1997-03-03 1999-10-04 Esab Ab Förfarande vid bågsvetsning med avsmältande elektrod
US5893986A (en) * 1997-04-11 1999-04-13 The Esab Group, Inc. Method of controlling a plasma arc cutting torch
US6107601A (en) * 1997-10-01 2000-08-22 Matsushita Electric Industrial Co., Ltd. Apparatus and method for controlling an arc welding robot
KR100243084B1 (ko) * 1997-12-26 2000-04-01 윤종용 용접로봇제어방법 및 그 제어장치
JP3287335B2 (ja) * 1999-05-25 2002-06-04 松下電器産業株式会社 アーク溶接電源とアーク溶接用周辺機器とアーク溶接装置
US6444942B1 (en) * 1999-08-03 2002-09-03 Nadex Co. Ltd Welding control systems
JP2001259839A (ja) * 2000-03-22 2001-09-25 Matsushita Electric Ind Co Ltd アーク溶接装置
EP1209545A1 (de) * 2000-11-23 2002-05-29 IRIS Robotique Sàrl Verfahren zur Steuerung eines industriellen Roboters
US6634541B1 (en) 2001-03-22 2003-10-21 James D. Hankey Method of manufacturing metal containers
US8000837B2 (en) * 2004-10-05 2011-08-16 J&L Group International, Llc Programmable load forming system, components thereof, and methods of use
DE102009020146B3 (de) * 2009-04-08 2010-06-10 V & M Deutschland Gmbh Verfahren und Vorrichtung zum Verbinden der Enden von Rohren aus Stahl mittels Orbitalschweißen in Hybridtechnik
JP5871372B2 (ja) * 2012-01-12 2016-03-01 株式会社ダイヘン アーク溶接装置
JP5871373B2 (ja) * 2012-01-12 2016-03-01 株式会社ダイヘン アーク溶接装置
US8989904B2 (en) * 2012-02-27 2015-03-24 Fanuc Robotics America Corporation Robotic process logger
EP3269487A1 (de) 2016-07-12 2018-01-17 Fronius International GmbH Verfahren zur festlegung von schweissparametern für einen schweissprozess

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4145593A (en) * 1976-02-03 1979-03-20 Merrick Welding International, Inc. Automatic pipe welding system
US4224501A (en) * 1978-02-27 1980-09-23 Unimation, Inc. Teaching arrangement for programmable manipulator
JPS5858682B2 (ja) * 1978-04-26 1983-12-27 ファナック株式会社 産業用ロボツトの制御方式
JPS5614308A (en) * 1979-07-12 1981-02-12 Kobe Steel Ltd Torch angle correcting method and unit in cp control type welding robot
JPS56166503A (en) * 1980-05-27 1981-12-21 Mitsubishi Electric Corp Power failure recovering device for numerical control device
JPS5760408A (en) * 1980-09-30 1982-04-12 Okuma Mach Works Ltd Numerical control system capable of controlling external interruption
SE8201383L (sv) * 1981-03-09 1982-09-10 Mitsubishi Electric Corp Styranleggning for bagsvetsrobot
JPS57147709A (en) * 1981-03-09 1982-09-11 Mitsubishi Electric Corp Controller for arc welding robot
JPS57168306A (en) * 1981-04-08 1982-10-16 Daihen Corp Controlling method of industrial robot
US4390954A (en) * 1981-04-13 1983-06-28 Merrick Engineering, Inc. Override control apparatus and method for parameter adjustment of digitally based welding process programmers
JPS5825872A (ja) * 1981-08-07 1983-02-16 Mitsubishi Electric Corp ロボットの制御装置
JPS5829576A (ja) * 1981-08-12 1983-02-21 Mitsubishi Electric Corp ア−ク溶接ロボツトの制御装置
JPS5838671A (ja) * 1981-08-31 1983-03-07 Mitsubishi Electric Corp 溶接ロボツトの制御装置
JPS58105303A (ja) * 1981-12-17 1983-06-23 Fanuc Ltd 教示方式

Also Published As

Publication number Publication date
SE8301964D0 (sv) 1983-04-08
JPS59200311A (ja) 1984-11-13
SE8301964L (sv) 1984-10-09
EP0125219A1 (de) 1984-11-14
SE455387B (sv) 1988-07-11
EP0125219B1 (de) 1990-06-13
US4578562A (en) 1986-03-25

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition