DE3587288D1 - Verfahren zur steuerung eines roboters mit mehrfachem gelenk. - Google Patents

Verfahren zur steuerung eines roboters mit mehrfachem gelenk.

Info

Publication number
DE3587288D1
DE3587288D1 DE8585902146T DE3587288T DE3587288D1 DE 3587288 D1 DE3587288 D1 DE 3587288D1 DE 8585902146 T DE8585902146 T DE 8585902146T DE 3587288 T DE3587288 T DE 3587288T DE 3587288 D1 DE3587288 D1 DE 3587288D1
Authority
DE
Germany
Prior art keywords
controlling
joint robot
multiple joint
robot
joint
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 - Fee Related
Application number
DE8585902146T
Other languages
English (en)
Other versions
DE3587288T2 (de
Inventor
Kazuo Soji
Hiroyuki Nagano
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.)
Panasonic Holdings Corp
Original Assignee
Matsushita Electric Industrial Co 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 Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Publication of DE3587288D1 publication Critical patent/DE3587288D1/de
Application granted granted Critical
Publication of DE3587288T2 publication Critical patent/DE3587288T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • G05B19/416—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 control of velocity, acceleration or deceleration
    • 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
    • G05B2219/41123—Correction inertia of servo
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43069—Measure acceleration, derive limit torque, adapt acceleration
    • 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)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
  • Manipulator (AREA)
  • Control Of Velocity Or Acceleration (AREA)
  • Feedback Control In General (AREA)
DE85902146T 1984-04-27 1985-04-25 Verfahren zur steuerung eines roboters mit mehrfachem gelenk. Expired - Fee Related DE3587288T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP59086420A JPH0799486B2 (ja) 1984-04-27 1984-04-27 角加速度制御方法
JP59090619A JP2604698B2 (ja) 1984-04-27 1984-05-07 角加速度制御方法
PCT/JP1985/000234 WO1985005198A1 (en) 1984-04-27 1985-04-25 Method of controlling multi-joint robot

Publications (2)

Publication Number Publication Date
DE3587288D1 true DE3587288D1 (de) 1993-05-27
DE3587288T2 DE3587288T2 (de) 1993-11-04

Family

ID=26427548

Family Applications (1)

Application Number Title Priority Date Filing Date
DE85902146T Expired - Fee Related DE3587288T2 (de) 1984-04-27 1985-04-25 Verfahren zur steuerung eines roboters mit mehrfachem gelenk.

Country Status (5)

Country Link
US (1) US4705999A (de)
EP (1) EP0191103B1 (de)
JP (2) JPH0799486B2 (de)
DE (1) DE3587288T2 (de)
WO (1) WO1985005198A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110543193A (zh) * 2019-08-30 2019-12-06 中国人民解放军国防科技大学 一种用于指向机构的在线加减速控制方法、系统及介质

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JPH0799486B2 (ja) * 1984-04-27 1995-10-25 松下電器産業株式会社 角加速度制御方法
JPS61203883A (ja) * 1985-03-06 1986-09-09 Fanuc Ltd サ−ボモ−タ制御方式
JPS62251810A (ja) * 1986-04-24 1987-11-02 Seiko Epson Corp ロボツトア−ムの加減速制御装置
JPH0646367B2 (ja) * 1986-09-29 1994-06-15 株式会社エスジ− 位置決め制御における進み角補償方式
JPS6389905A (ja) * 1986-10-02 1988-04-20 Toshiba Mach Co Ltd 加速度制御装置
JPS6436303A (en) * 1987-07-31 1989-02-07 Matsushita Electric Ind Co Ltd Angular acceleration control method
JP2707087B2 (ja) * 1987-09-09 1998-01-28 ファナック株式会社 ロボット制御装置
JP2635332B2 (ja) * 1987-09-14 1997-07-30 ファナック 株式会社 機械加工におけるスピンドルモータと送り用サーボモータとの同期制御方法
JPH07120215B2 (ja) * 1987-11-27 1995-12-20 ダイキン工業株式会社 ロボットの制御方法
JPH01164280A (ja) * 1987-12-21 1989-06-28 Fanuc Ltd 加減速制御方式
US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms
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
JP2875535B2 (ja) * 1988-06-21 1999-03-31 松下電器産業株式会社 移動テーブルの制御方法
SE461383B (sv) * 1989-01-11 1990-02-12 Inst Mash Im A Ablagonravova A Foerfarande foer styrning av en s k mekanisk resonanshand
DE58909509D1 (de) * 1989-02-28 1996-01-04 Siemens Ag Steuerungsverfahren bei einer numerischen Werkzeugmaschine oder einem Roboter.
JPH02256483A (ja) * 1989-03-29 1990-10-17 Kobe Steel Ltd 産業用ロボットの速度制御装置
US5027001A (en) * 1989-08-29 1991-06-25 Torbert William F Moisture sensitive automatic windshield wiper and headlight control device
JP2705259B2 (ja) * 1989-11-27 1998-01-28 日産自動車株式会社 ロボットの制御装置
US5483630A (en) * 1990-07-12 1996-01-09 Hitachi, Ltd. Method and apparatus for representing motion of multiple-jointed object, computer graphic apparatus, and robot controller
JP3038972B2 (ja) * 1991-04-03 2000-05-08 ソニー株式会社 加減速パターン生成装置及びパターン生成方法
US5157316A (en) * 1991-06-26 1992-10-20 Glovier Lloyd H Robotic joint movement device
US5546508A (en) * 1992-04-03 1996-08-13 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Controlling flexible robot arms using high speed dynamics process
EP0596241B1 (de) * 1992-09-25 1998-07-22 Nec Corporation Steuerungsschaltung für hochpräzise Bahnverfolgung welche eine multiaxiale Koordination verwendet
US5426722A (en) * 1993-09-09 1995-06-20 Stratasys, Inc. Method for optimizing the motion of a multi-axis robot
JP3395278B2 (ja) * 1993-09-16 2003-04-07 ソニー株式会社 数値制御方法と数値制御装置
ATE175502T1 (de) * 1994-10-21 1999-01-15 Siemens Ag Ruckbegrenzte geschwindigkeitsführung
US5740327A (en) * 1994-12-27 1998-04-14 Nec Corporation Method of and apparatus for robot tip trajectory control
JPH0991025A (ja) * 1995-09-26 1997-04-04 Fanuc Ltd 動作デューティを考慮したロボットの最短時間制御方法
JP4060393B2 (ja) * 1996-01-24 2008-03-12 三菱電機株式会社 ロボットの速度演算装置、およびロボットの速度演算方法
JPH11277468A (ja) * 1998-03-30 1999-10-12 Denso Corp ロボットの制御装置
US6450755B1 (en) * 1998-07-10 2002-09-17 Equipe Technologies Dual arm substrate handling robot with a batch loader
JP3946753B2 (ja) * 2005-07-25 2007-07-18 ファナック株式会社 ロボットプログラム評価・修正方法及びロボットプログラム評価・修正装置
KR101117458B1 (ko) 2010-07-27 2012-02-29 김동철 의료장치에 구비되는 로봇암의 관절고정장치
KR101749515B1 (ko) * 2010-10-27 2017-06-21 삼성전자 주식회사 모터 속도 제어 장치 및 그 방법
JP5821210B2 (ja) * 2011-02-22 2015-11-24 セイコーエプソン株式会社 水平多関節ロボット及び水平多関節ロボットの制御方法
JP5962340B2 (ja) * 2012-08-31 2016-08-03 セイコーエプソン株式会社 ロボット
JP6111563B2 (ja) 2012-08-31 2017-04-12 セイコーエプソン株式会社 ロボット
US10369702B2 (en) * 2016-10-17 2019-08-06 Raytheon Company Automated work piece moment of inertia (MOI) identification system and method for same
US11198227B2 (en) 2018-12-04 2021-12-14 Raytheon Company Adjustable ballast system and method for same
US11027435B2 (en) 2018-12-04 2021-06-08 Raytheon Company Automated work piece testing system and method for same
CN113635306B (zh) * 2021-08-20 2022-11-11 珠海格力电器股份有限公司 机器人紧急制动方法、机器人及存储介质

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JPS5218869B2 (de) * 1972-07-25 1977-05-24
US3952238A (en) * 1973-11-29 1976-04-20 Hymie Cutler Programmable positioning apparatus and acceleration control system particularly useful therein
JPS5218869A (en) * 1976-03-19 1977-02-12 Matsushita Electric Ind Co Ltd Gas cooking inplement
DE2625397C2 (de) * 1976-06-05 1986-12-04 Philips Patentverwaltung Gmbh, 2000 Hamburg Motorantrieb für Röntgenuntersuchungsgerät
DE2746886A1 (de) * 1977-10-19 1979-04-26 Georg Prof Dipl Ing Seewang Verfahren und vorrichtung zur regelung der antriebsgroessen eines elektromotors
JPS5574395A (en) * 1978-11-28 1980-06-04 Nippon Telegr & Teleph Corp <Ntt> Positioning control system
JPS57155607A (en) * 1981-03-20 1982-09-25 Fanuc Ltd Robot controlling system
JPS57187714A (en) * 1981-05-13 1982-11-18 Matsushita Electric Ind Co Ltd Positioning controller
IT1144707B (it) * 1981-05-15 1986-10-29 Dea Spa Unita a braccio operativo controllata da un sistema a calcolatore
JPS57211605A (en) * 1981-06-22 1982-12-25 Fujitsu Ltd Controlling system for track of robot
JPS583002A (ja) * 1981-06-30 1983-01-08 Fujitsu Ltd ロボツトの制御方式
JPS5845886A (ja) * 1981-09-08 1983-03-17 新明和工業株式会社 産業用ロボツト
JPS58222307A (ja) * 1982-06-21 1983-12-24 Mitsubishi Electric Corp 関節型ロボツトの制御方法
JPH0799486B2 (ja) * 1984-04-27 1995-10-25 松下電器産業株式会社 角加速度制御方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110543193A (zh) * 2019-08-30 2019-12-06 中国人民解放军国防科技大学 一种用于指向机构的在线加减速控制方法、系统及介质
CN110543193B (zh) * 2019-08-30 2022-04-15 中国人民解放军国防科技大学 一种用于指向机构的在线加减速控制方法、系统及介质

Also Published As

Publication number Publication date
JPS60233715A (ja) 1985-11-20
EP0191103A4 (de) 1988-04-26
WO1985005198A1 (en) 1985-11-21
JPH0799486B2 (ja) 1995-10-25
US4705999A (en) 1987-11-10
EP0191103A1 (de) 1986-08-20
JP2604698B2 (ja) 1997-04-30
JPS60230206A (ja) 1985-11-15
DE3587288T2 (de) 1993-11-04
EP0191103B1 (de) 1993-04-21

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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