DE3485141D1 - Verfahren und geraet zur steuerung einer roboterhand entlang einem bestimmten weg. - Google Patents

Verfahren und geraet zur steuerung einer roboterhand entlang einem bestimmten weg.

Info

Publication number
DE3485141D1
DE3485141D1 DE8484107470T DE3485141T DE3485141D1 DE 3485141 D1 DE3485141 D1 DE 3485141D1 DE 8484107470 T DE8484107470 T DE 8484107470T DE 3485141 T DE3485141 T DE 3485141T DE 3485141 D1 DE3485141 D1 DE 3485141D1
Authority
DE
Germany
Prior art keywords
robot
controlling
specific way
hand along
hand
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
DE8484107470T
Other languages
English (en)
Inventor
Shiyuki Sakaue
Koichi Sugimoto
Shinichi Arai
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 JP11699583A external-priority patent/JPS6010309A/ja
Priority claimed from JP59010038A external-priority patent/JPH0623928B2/ja
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Application granted granted Critical
Publication of DE3485141D1 publication Critical patent/DE3485141D1/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
    • G05B19/18—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
    • G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/23—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
    • G05B19/231—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/232—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
    • 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
    • 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
    • G05B2219/33119—Servo parameters in memory, configuration of control parameters
    • 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
    • G05B2219/33263—Conversion, transformation of coordinates, cartesian or polar
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41177—Repetitive control, adaptive, previous error during actual positioning
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE8484107470T 1983-06-30 1984-06-28 Verfahren und geraet zur steuerung einer roboterhand entlang einem bestimmten weg. Expired - Lifetime DE3485141D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP11699583A JPS6010309A (ja) 1983-06-30 1983-06-30 ロボツトハンドの経路補間方法
JP59010038A JPH0623928B2 (ja) 1984-01-25 1984-01-25 ロボツトハンドの軌道修正方法

Publications (1)

Publication Number Publication Date
DE3485141D1 true DE3485141D1 (de) 1991-11-14

Family

ID=26345199

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8484107470T Expired - Lifetime DE3485141D1 (de) 1983-06-30 1984-06-28 Verfahren und geraet zur steuerung einer roboterhand entlang einem bestimmten weg.

Country Status (3)

Country Link
US (1) US4617502A (de)
EP (1) EP0130570B1 (de)
DE (1) DE3485141D1 (de)

Families Citing this family (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6126106A (ja) * 1984-07-16 1986-02-05 Fanuc Ltd 工具位置補正方式
KR900008539B1 (ko) * 1985-05-30 1990-11-24 마쯔시다덴기산교 가부시기가이샤 로보트의 연속경로 제어방법
US4718078A (en) * 1985-08-19 1988-01-05 Siemens Aktiengesellschaft System for controlling motion of a robot
FI72947C (fi) * 1985-09-27 1987-08-10 Kone Oy Foerfarande och anordning foer kontinuerlig kompensering av en hisskorgs horisontala kast.
US4714866A (en) * 1986-04-28 1987-12-22 Advanced Micro Devices, Inc. Rate-of-change signal generator using sampling techniques
JPS63316207A (ja) * 1987-06-19 1988-12-23 Fanuc Ltd 産業用ロボット制御装置
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
US4990839A (en) * 1988-12-09 1991-02-05 Schonlau William J Modular robotic system
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
JP3200059B2 (ja) * 1990-03-30 2001-08-20 株式会社東芝 ロボットの制御装置
JPH04213583A (ja) * 1990-06-18 1992-08-04 Mitsubishi Electric Corp エレベーター
JP2756208B2 (ja) * 1991-03-13 1998-05-25 オーチス エレベータ カンパニー 垂直走行中のエレベータかごの水平偏差修正装置
JP2756207B2 (ja) * 1991-03-13 1998-05-25 オーチス エレベータ カンパニー 垂直昇降路レール上のエレベータかごの水平偏差を測定する方法及び装置
JPH06110739A (ja) * 1992-09-25 1994-04-22 Nitto Kohki Co Ltd コンピュータシステム
US5426722A (en) * 1993-09-09 1995-06-20 Stratasys, Inc. Method for optimizing the motion of a multi-axis robot
WO1996041705A1 (fr) * 1995-06-13 1996-12-27 Toyo Kohan Co., Ltd. Procede de prevention des perturbations concernant des robots industriels
WO1999042911A1 (fr) * 1998-02-23 1999-08-26 Mitsubishi Denki Kabushiki Kaisha Dispositif et procede de programmation permettant d'effectuer le positionnement
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
ITVI20020053A1 (it) * 2002-03-22 2003-09-22 Qem Srl Sistema integrato di controllo degli assi di macchinari industriali
JP4317518B2 (ja) * 2004-12-14 2009-08-19 本田技研工業株式会社 物品運搬システム
JP4456561B2 (ja) * 2005-12-12 2010-04-28 本田技研工業株式会社 自律移動ロボット
US9566710B2 (en) 2011-06-02 2017-02-14 Brain Corporation Apparatus and methods for operating robotic devices using selective state space training
US9764468B2 (en) 2013-03-15 2017-09-19 Brain Corporation Adaptive predictor apparatus and methods
US9242372B2 (en) 2013-05-31 2016-01-26 Brain Corporation Adaptive robotic interface apparatus and methods
US9792546B2 (en) 2013-06-14 2017-10-17 Brain Corporation Hierarchical robotic controller apparatus and methods
US9314924B1 (en) 2013-06-14 2016-04-19 Brain Corporation Predictive robotic controller apparatus and methods
US9579789B2 (en) 2013-09-27 2017-02-28 Brain Corporation Apparatus and methods for training of robotic control arbitration
US9597797B2 (en) 2013-11-01 2017-03-21 Brain Corporation Apparatus and methods for haptic training of robots
US9463571B2 (en) 2013-11-01 2016-10-11 Brian Corporation Apparatus and methods for online training of robots
WO2015116271A2 (en) * 2013-11-01 2015-08-06 Brain Corporation Apparatus and methods for operating robotic devices using selective state space training
US9358685B2 (en) 2014-02-03 2016-06-07 Brain Corporation Apparatus and methods for control of robot actions based on corrective user inputs
US9346167B2 (en) 2014-04-29 2016-05-24 Brain Corporation Trainable convolutional network apparatus and methods for operating a robotic vehicle
US9630318B2 (en) 2014-10-02 2017-04-25 Brain Corporation Feature detection apparatus and methods for training of robotic navigation
US9717387B1 (en) 2015-02-26 2017-08-01 Brain Corporation Apparatus and methods for programming and training of robotic household appliances
DE102015008188B3 (de) * 2015-06-25 2016-06-16 Kuka Roboter Gmbh Abfahren einer vorgegebenen Bahn mit einem Roboter
CN110703749B (zh) * 2019-10-11 2022-11-18 浙江华睿科技股份有限公司 一种控制车辆运动的方法及装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2094610A5 (de) * 1970-06-26 1972-02-04 Bull General Electric
US3911347A (en) * 1972-02-20 1975-10-07 Xenex Corp Adaptive control system
US3934186A (en) * 1972-03-07 1976-01-20 Mitsubishi Jukogyo Kabushiki Kaisha Program control system for robots for industrial use
JPS5619392A (en) * 1979-07-19 1981-02-24 Toshiba Mach Co Ltd Main shaft driving device using induction motor
JPS57113114A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS58609A (ja) * 1981-06-22 1983-01-05 高崎　誠一郎 タツピングスクリユ−
US4429260A (en) * 1981-10-08 1984-01-31 Rca Corporation Television receiver power supply ferroresonant load circuit provided with a redundant operating capability

Also Published As

Publication number Publication date
EP0130570B1 (de) 1991-10-09
EP0130570A2 (de) 1985-01-09
US4617502A (en) 1986-10-14
EP0130570A3 (en) 1986-04-16

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Legal Events

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8364 No opposition during term of opposition