DE3584604D1 - Verfahren und geraet zur steuerung eines manipulators und einer werkstueckseinstellvorrichtung. - Google Patents

Verfahren und geraet zur steuerung eines manipulators und einer werkstueckseinstellvorrichtung.

Info

Publication number
DE3584604D1
DE3584604D1 DE8585305706T DE3584604T DE3584604D1 DE 3584604 D1 DE3584604 D1 DE 3584604D1 DE 8585305706 T DE8585305706 T DE 8585305706T DE 3584604 T DE3584604 T DE 3584604T DE 3584604 D1 DE3584604 D1 DE 3584604D1
Authority
DE
Germany
Prior art keywords
manipulator
controlling
workpiece adjustment
adjustment device
workpiece
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
DE8585305706T
Other languages
English (en)
Inventor
John Gerald Holmes
Elen Rosa Messina
Brian John Resnick
Charles Coleman Teach
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 Robotics Inc
Original Assignee
ABB Robotics Inc
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 ABB Robotics Inc filed Critical ABB Robotics Inc
Application granted granted Critical
Publication of DE3584604D1 publication Critical patent/DE3584604D1/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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • 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)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE8585305706T 1984-08-13 1985-08-12 Verfahren und geraet zur steuerung eines manipulators und einer werkstueckseinstellvorrichtung. Expired - Lifetime DE3584604D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/640,431 US4598380A (en) 1984-08-13 1984-08-13 Method and apparatus for controlling manipulator and workpiece positioner

Publications (1)

Publication Number Publication Date
DE3584604D1 true DE3584604D1 (de) 1991-12-12

Family

ID=24568212

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8585305706T Expired - Lifetime DE3584604D1 (de) 1984-08-13 1985-08-12 Verfahren und geraet zur steuerung eines manipulators und einer werkstueckseinstellvorrichtung.

Country Status (5)

Country Link
US (1) US4598380A (de)
EP (1) EP0177142B1 (de)
JP (1) JPS61173311A (de)
CA (1) CA1233224A (de)
DE (1) DE3584604D1 (de)

Families Citing this family (48)

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JPS60193016A (ja) * 1984-03-14 1985-10-01 Toyota Motor Corp ロボツト装置
US4635206A (en) * 1984-10-15 1987-01-06 Cincinnati Milacron Inc. Method and apparatus for oscillating a tool carried by a manipulator
US5146670A (en) * 1985-04-24 1992-09-15 The Boeing Company Profiling and deburring of workpieces
FR2581334B1 (fr) * 1985-05-06 1987-12-31 Electricite De France Procede et installation d'usinage d'une piece creuse par fraisage le long d'un trace predetermine
JPS61281305A (ja) * 1985-06-06 1986-12-11 Toyota Motor Corp 多関節ロボツト制御装置
JPS6261104A (ja) * 1985-09-11 1987-03-17 Fanuc Ltd 水平関節型ロボツトの加減速制御方式
US4696707A (en) * 1987-08-18 1987-09-29 The Ingersoll Milling Machine Company Composite tape placement apparatus with natural path generation means
US4685067A (en) * 1986-02-20 1987-08-04 Cincinnati Milacron Inc. Control system for program controlled manipulator having multiple triggered functions between programmed points
US4750965A (en) * 1986-03-28 1988-06-14 The Ingersoll Milling Machine Company Adaptive control for tape laying head having natural path generation
JPS62232006A (ja) * 1986-04-02 1987-10-12 Yokogawa Electric Corp ロボツト・システム
DE3774090D1 (de) * 1986-11-17 1991-11-28 Siemens Ag Verfahren zum steuern der dreidimensionalen relativbewegung eines roboters gegenueber einem an einem werkstuecktraeger befestigten werkstueck.
US4868474A (en) * 1986-11-20 1989-09-19 Westinghouse Electric Corp. Multiprocessor position/velocity servo control for multiaxis digital robot control system
US4763055A (en) * 1986-11-20 1988-08-09 Westinghouse Electric Corp. Digital robot control having high performance servo control system
US4807153A (en) * 1986-11-20 1989-02-21 Unimation Inc. Multiaxis digital robot control having a backup velocity monitor and protection system
US4868472A (en) * 1986-11-20 1989-09-19 Unimation Inc. Communication interface for multi-microprocessor servo control in a multi-axis robot control system
US4864204A (en) * 1986-11-20 1989-09-05 Westinghouse Electric Corp. Multiprocessor torque servo control for multiaxis digital robot control system
US4773025A (en) * 1986-11-20 1988-09-20 Unimation, Inc. Multiaxis robot control having curve fitted path control
US4835710A (en) * 1987-07-17 1989-05-30 Cincinnati Milacron Inc. Method of moving and orienting a tool along a curved path
US5062755A (en) * 1988-02-23 1991-11-05 Macmillan Bloedel Limited Articulated arm control
US4925312A (en) * 1988-03-21 1990-05-15 Staubli International Ag Robot control system having adaptive feedforward torque control for improved accuracy
US5031441A (en) * 1988-07-29 1991-07-16 The Boeing Company Two arm robot
US4972347A (en) * 1988-10-11 1990-11-20 Cincinnati Milacron Inc. Method and apparatus for determining the correct tool dimensions for a three dimensional tool mounted on a manipulator
SE461383B (sv) * 1989-01-11 1990-02-12 Inst Mash Im A Ablagonravova A Foerfarande foer styrning av en s k mekanisk resonanshand
JPH02262982A (ja) * 1989-03-31 1990-10-25 Fanuc Ltd ツールセンタポイントの設定方法
US5079491A (en) * 1989-05-23 1992-01-07 Honda Giken Kogyo Kabushiki Kaisha Robot control system
JP2620883B2 (ja) * 1989-06-29 1997-06-18 ファナック株式会社 ロボットを用いて回転体表面に均一に物質を付着させる方法
FI83175C (fi) * 1989-09-12 1991-06-10 Aitec Oy Foerfarande foer banstyrning av en robotcell.
FI83176C (fi) * 1989-09-12 1991-06-10 Aitec Oy Foerfarande foer styrning av roerelser hos en robot och en styckemanipulator under en robotcells inlaerningsskede.
JP2726735B2 (ja) * 1990-05-24 1998-03-11 ファナック株式会社 円筒補間方式
JP2514490B2 (ja) * 1991-07-05 1996-07-10 株式会社ダイヘン 産業用ロボットの連動手動操作による教示制御方法
FR2682905B1 (fr) * 1991-10-28 1995-12-01 Commissariat Energie Atomique Procede de generation de trajectoire pour un systeme robotise.
US5373221A (en) * 1993-07-30 1994-12-13 Fanuc Robotics North America, Inc. Method and system for estimating robot tool center point speed
US5434489A (en) * 1993-07-30 1995-07-18 Fanuc Robotics North America, Inc. Method and system for path planning in cartesian space
US5508596A (en) * 1993-10-07 1996-04-16 Omax Corporation Motion control with precomputation
US6025686A (en) * 1997-07-23 2000-02-15 Harnischfeger Corporation Method and system for controlling movement of a digging dipper
CA2367054A1 (en) * 1999-03-22 2000-09-28 Steven E. Alverson Method for controlling pivoting machine member
US6356807B1 (en) 1999-08-13 2002-03-12 Fanuc Robotics North America, Inc. Method of determining contact positions, calibration parameters, and reference frames for robot assemblies
WO2007138756A1 (ja) * 2006-05-31 2007-12-06 Panasonic Corporation 回転中心点算出方法、回転軸線算出方法、プログラムの作成方法、動作方法およびロボット装置
WO2010109536A1 (ja) * 2009-03-27 2010-09-30 三菱電機株式会社 数値制御装置および当該数値制御装置の制御方法
US9026242B2 (en) 2011-05-19 2015-05-05 Taktia Llc Automatically guided tools
JP6301314B2 (ja) 2012-04-26 2018-03-28 シェイパー ツールズ, インク.Shaper Tools, Inc. 材料に作業を実行するため又は材料の表面に対する装置の位置を特定するためのシステム及び方法
US8904912B2 (en) 2012-08-16 2014-12-09 Omax Corporation Control valves for waterjet systems and related devices, systems, and methods
EP3657279B1 (de) 2015-05-13 2023-03-29 Shaper Tools, Inc. Systeme, verfahren und vorrichtung für geführte werkzeuge
EP3500894B1 (de) 2016-08-19 2024-05-15 Shaper Tools, Inc. Vorrichtung und verfahren zur führung eines auf der oberfläche eines materialstücks positionierten werkzeugs
US10859997B1 (en) 2017-12-04 2020-12-08 Omax Corporation Numerically controlled machining
US11554461B1 (en) 2018-02-13 2023-01-17 Omax Corporation Articulating apparatus of a waterjet system and related technology
CN109015661A (zh) * 2018-09-29 2018-12-18 重庆固高科技长江研究院有限公司 工业机器人迭代学习修正轨迹误差的方法
KR20230005840A (ko) 2020-03-30 2023-01-10 하이퍼썸, 인크. 다기능 접속 종방향 단부들을 갖는 액체 제트 펌프를 위한 실린더

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3909600A (en) * 1972-06-26 1975-09-30 Cincinnati Milacron Inc Method and apparatus for controlling an automation along a predetermined path
US4132937A (en) * 1976-10-18 1979-01-02 Unimation, Inc. Programmable manipulator with dynamic feedback apparatus for stabilization
CA1121888A (en) * 1977-04-30 1982-04-13 Junichi Ikeda Industrial robot
US4201937A (en) * 1978-04-07 1980-05-06 Unimation, Inc. Control apparatus for programmable manipulator
JPS6019002B2 (ja) * 1978-07-17 1985-05-14 豊田工機株式会社 数値制御装置
US4262336A (en) * 1979-04-27 1981-04-14 Pritchard Eric K Multi-axis contouring control system
JPS56159709A (en) * 1980-05-10 1981-12-09 Daihen Corp Controller of industrial robot
US4362978A (en) * 1980-10-27 1982-12-07 Unimation, Inc. Control system for manipulator apparatus
US4453221A (en) * 1982-05-13 1984-06-05 Cincinnati Milacron Inc. Manipulator with adaptive velocity controlled path motion
US4506335A (en) * 1982-06-10 1985-03-19 Cincinnati Milacron Inc. Manipulator with controlled path motion
US4538233A (en) * 1982-10-19 1985-08-27 Cincinnati Milacron Inc. Apparatus and method for oscillatory motion control
JPS59206905A (ja) * 1983-05-11 1984-11-22 Kobe Steel Ltd Ｐｔｐ形ロボツトの作業軌跡教示方法

Also Published As

Publication number Publication date
CA1233224A (en) 1988-02-23
EP0177142A1 (de) 1986-04-09
JPS61173311A (ja) 1986-08-05
EP0177142B1 (de) 1991-11-06
US4598380A (en) 1986-07-01

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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