DE3583132D1 - Robotsteuerungssystem. - Google Patents
Robotsteuerungssystem.Info
- Publication number
- DE3583132D1 DE3583132D1 DE8585309165T DE3583132T DE3583132D1 DE 3583132 D1 DE3583132 D1 DE 3583132D1 DE 8585309165 T DE8585309165 T DE 8585309165T DE 3583132 T DE3583132 T DE 3583132T DE 3583132 D1 DE3583132 D1 DE 3583132D1
- Authority
- DE
- Germany
- Prior art keywords
- control system
- robot control
- 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 - Lifetime
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
- G05B19/234—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 current or torque 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
- G05B19/18—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
- G05B19/406—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 monitoring or safety
- G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40087—Align hand on workpiece to pick up workpiece, peg and hole
-
- 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
-
- 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
- G05B2219/42288—Limit, stop drive current if axis obstructed, blocked, force against stop
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50112—Retract tool to a point
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Safety Devices In Control Systems (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59264626A JPS61143803A (ja) | 1984-12-17 | 1984-12-17 | ロボツトの制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
DE3583132D1 true DE3583132D1 (de) | 1991-07-11 |
Family
ID=17405949
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE8585309165T Expired - Lifetime DE3583132D1 (de) | 1984-12-17 | 1985-12-16 | Robotsteuerungssystem. |
Country Status (4)
Country | Link |
---|---|
US (1) | US4682089A (de) |
EP (1) | EP0188109B1 (de) |
JP (1) | JPS61143803A (de) |
DE (1) | DE3583132D1 (de) |
Families Citing this family (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2727315B2 (ja) * | 1985-10-25 | 1998-03-11 | ファナック 株式会社 | 射出成形機の保圧制御方法 |
US4825376A (en) * | 1986-04-17 | 1989-04-25 | Glasstech International L.P. | Controller for glass sheet processing system |
JPS62299320A (ja) * | 1986-06-19 | 1987-12-26 | Fanuc Ltd | 射出成形機の自動原点調整方式 |
JP2638594B2 (ja) * | 1986-11-08 | 1997-08-06 | フアナツク株式会社 | デイジタルサーボシステム |
US4874997A (en) * | 1986-11-20 | 1989-10-17 | Unimation, Inc. | Digital robot control providing pulse width modulation for a brushless DC drive |
US4868472A (en) * | 1986-11-20 | 1989-09-19 | Unimation Inc. | Communication interface for multi-microprocessor servo control in a multi-axis robot control system |
US4868474A (en) * | 1986-11-20 | 1989-09-19 | Westinghouse Electric Corp. | Multiprocessor position/velocity servo control for multiaxis digital robot control system |
US4894598A (en) * | 1986-11-20 | 1990-01-16 | Staubli International Ag | Digital robot control having an improved pulse width modulator |
US4864204A (en) * | 1986-11-20 | 1989-09-05 | Westinghouse Electric Corp. | Multiprocessor torque servo control for multiaxis digital robot control system |
US4876494A (en) * | 1986-11-20 | 1989-10-24 | Unimation, Inc. | Position and velocity feedback system for a digital robot control |
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 |
US4902944A (en) * | 1986-11-20 | 1990-02-20 | Staubli International Ag. | Digital robot control having an improved current sensing system for power amplifiers in a digital robot control |
JPH0218601A (ja) * | 1988-07-07 | 1990-01-22 | Mitsubishi Electric Corp | サーボ制御装置 |
JPH02146602A (ja) * | 1988-08-11 | 1990-06-05 | Fanuc Ltd | サーボモータにより駆動される被駆動体の衝突検出・停出方法 |
US5198984A (en) * | 1988-08-31 | 1993-03-30 | Okuma Corporation | Numerical control method for correcting machine tool path errors |
EP0385459A3 (de) * | 1989-03-02 | 1990-11-14 | Toyoda Koki Kabushiki Kaisha | Gerät zur Synchronisierkontrolle |
JP2702575B2 (ja) * | 1989-12-15 | 1998-01-21 | ファナック株式会社 | ワーク交換方法 |
US5313861A (en) * | 1989-12-15 | 1994-05-24 | Fanuc Ltd. | Workpiece exchanging system |
JP2608161B2 (ja) * | 1990-03-29 | 1997-05-07 | ファナック株式会社 | 産業用ロボットの停止制御方法 |
US5283751A (en) * | 1990-04-24 | 1994-02-01 | Tornos-Bechler Sa, Fabrique De Machines Moutier | Control device and method for an incremental numerical axis in a machining station |
US5227703A (en) * | 1992-04-21 | 1993-07-13 | General Electric Company | Protection system for alternating current, battery powered electric traction motor vehicle |
JPH06245561A (ja) * | 1993-02-10 | 1994-09-02 | Fanuc Ltd | サーボモータの異常負荷検出制御方法 |
JPH06332538A (ja) * | 1993-05-19 | 1994-12-02 | Fanuc Ltd | 柔軟なサーボ制御方法 |
US5841257A (en) * | 1994-01-18 | 1998-11-24 | Fanuc, Ltd. | Circuit for supplying/interrupting power to robots |
WO1997010081A1 (fr) * | 1995-09-11 | 1997-03-20 | Kabushiki Kaisha Yaskawa Denki | Circuit de commande de robots |
US5945798A (en) * | 1998-08-27 | 1999-08-31 | Eastman Kodak Company | System for determining part presence and grip pressure for a robotic gripping device |
JP3459973B2 (ja) * | 1999-10-22 | 2003-10-27 | 川崎重工業株式会社 | 駆動制御方法および駆動制御装置 |
KR100753162B1 (ko) | 2005-12-29 | 2007-08-30 | 주식회사 탑 엔지니어링 | 모터의 포지션 에러를 이용한 기판 위치 검출 방법 및 이를이용한 스크라이버 |
DE102010015407A1 (de) * | 2010-04-19 | 2011-10-20 | Kuka Laboratories Gmbh | Roboter und Verfahren zum Betreiben eines Roboters |
US9815193B2 (en) | 2011-06-27 | 2017-11-14 | Delaware Capital Formation, Inc. | Electric motor based holding control systems and methods |
US9914216B2 (en) * | 2012-11-09 | 2018-03-13 | Abb Schweiz Ag | Robot control with improved safety |
DE102021000741A1 (de) | 2020-03-03 | 2021-09-09 | Sew-Eurodrive Gmbh & Co Kg | Verfahren zum Betreiben einer Maschine und Anlage zur Durchführung des Verfahrens |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1171214A (en) * | 1967-04-27 | 1969-11-19 | Telehoist Ltd | Improvements in Servo Systems |
JPS5218355B1 (de) * | 1971-02-18 | 1977-05-20 | ||
JPS50132386A (de) * | 1974-03-08 | 1975-10-20 | ||
DE2837842A1 (de) * | 1978-08-30 | 1980-03-13 | Anschuetz & Co Gmbh | Anordnung zum ueberwachen einer rudersteueranlage |
JPS5731003A (en) * | 1980-08-01 | 1982-02-19 | Fanuc Ltd | Numerical control system |
JPS5760408A (en) * | 1980-09-30 | 1982-04-12 | Okuma Mach Works Ltd | Numerical control system capable of controlling external interruption |
JPS57113118A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
JPS57144638A (en) * | 1981-02-26 | 1982-09-07 | Koichiro Kitamura | Protective device for automatic tool changing device |
JPS5981094A (ja) * | 1982-11-02 | 1984-05-10 | 株式会社日立製作所 | 自動機械 |
JPS60230204A (ja) * | 1984-04-27 | 1985-11-15 | Toyoda Mach Works Ltd | 可動体移動制御装置における保安装置 |
-
1984
- 1984-12-17 JP JP59264626A patent/JPS61143803A/ja active Pending
-
1985
- 1985-12-13 US US06/808,499 patent/US4682089A/en not_active Expired - Fee Related
- 1985-12-16 EP EP85309165A patent/EP0188109B1/de not_active Expired
- 1985-12-16 DE DE8585309165T patent/DE3583132D1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP0188109B1 (de) | 1991-06-05 |
EP0188109A3 (en) | 1987-10-28 |
EP0188109A2 (de) | 1986-07-23 |
JPS61143803A (ja) | 1986-07-01 |
US4682089A (en) | 1987-07-21 |
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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 |