DE3587396D1 - Handhabungsgeraet mit beweglicher struktur. - Google Patents

Handhabungsgeraet mit beweglicher struktur.

Info

Publication number
DE3587396D1
DE3587396D1 DE8585116137T DE3587396T DE3587396D1 DE 3587396 D1 DE3587396 D1 DE 3587396D1 DE 8585116137 T DE8585116137 T DE 8585116137T DE 3587396 T DE3587396 T DE 3587396T DE 3587396 D1 DE3587396 D1 DE 3587396D1
Authority
DE
Germany
Prior art keywords
handling device
movable structure
movable
handling
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
DE8585116137T
Other languages
English (en)
Other versions
DE3587396T2 (de
Inventor
Hiroaki Tokairin
Kazuo Honma
Kichio Nakajima
Kiyoshi Nagasawa
Takeshi Aritake
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 Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery 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 Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Application granted granted Critical
Publication of DE3587396D1 publication Critical patent/DE3587396D1/de
Publication of DE3587396T2 publication Critical patent/DE3587396T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37357—Force, pressure, weight or deflection
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39176—Compensation deflection arm

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)
  • Jib Cranes (AREA)
DE85116137T 1984-12-19 1985-12-18 Handhabungsgerät mit beweglicher Struktur. Expired - Fee Related DE3587396T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP26637084 1984-12-19

Publications (2)

Publication Number Publication Date
DE3587396D1 true DE3587396D1 (de) 1993-07-15
DE3587396T2 DE3587396T2 (de) 1993-12-16

Family

ID=17429998

Family Applications (1)

Application Number Title Priority Date Filing Date
DE85116137T Expired - Fee Related DE3587396T2 (de) 1984-12-19 1985-12-18 Handhabungsgerät mit beweglicher Struktur.

Country Status (4)

Country Link
US (1) US4710884A (de)
EP (1) EP0188759B1 (de)
JP (1) JPS61281304A (de)
DE (1) DE3587396T2 (de)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6327904A (ja) * 1986-07-22 1988-02-05 Hitachi Ltd サ−ボ機構装置の位置修正制御方式
JP2692043B2 (ja) * 1987-03-28 1997-12-17 川崎重工業株式会社 ロボツトの教示データの作成方法
USH869H (en) * 1988-03-10 1991-01-01 The United States Of America As Represented By The Secretary Of The Air Force Contact insertion turret end effector
JP2719345B2 (ja) * 1988-03-30 1998-02-25 豊田工機株式会社 力センサを用いた加工制御装置
JP2735126B2 (ja) * 1988-12-27 1998-04-02 キヤノン株式会社 ロボットの制御方法及びその制御装置
JPH02198783A (ja) * 1989-01-23 1990-08-07 Fanuc Ltd 産業用ロボットの位置決め補正方式
DE4001433A1 (de) * 1990-01-19 1991-07-25 Zeiss Carl Fa Korrekturverfahren fuer koordinatenmessgeraete
JP2874238B2 (ja) * 1990-01-23 1999-03-24 株式会社安川電機 多関節形ロボットの制御方法
JPH04233602A (ja) * 1990-12-28 1992-08-21 Fanuc Ltd ロボットのたわみ補正方法及びたわみ認識方法
US5349277A (en) * 1992-03-12 1994-09-20 Honda Giken Kogyo Kabushiki Kaisha Control system for legged mobile robot
US5311109A (en) * 1992-03-31 1994-05-10 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for legged mobile robot
US5535306A (en) * 1993-01-28 1996-07-09 Applied Materials Inc. Self-calibration system for robot mechanisms
US6316899B1 (en) * 1994-09-07 2001-11-13 Polytechnic University Apparatus for reducing vibration inputs to a device and/or for micropositioning
US5767648A (en) * 1996-04-19 1998-06-16 Massachusetts Institute Of Technology Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use thereof
JP3808321B2 (ja) * 2001-04-16 2006-08-09 ファナック株式会社 ロボット制御装置
FR2916069B1 (fr) * 2007-05-11 2009-07-31 Commissariat Energie Atomique Procede de traitement pour la capture de mouvement d'une structure articulee
CN101870110B (zh) * 2010-07-01 2012-01-04 三一重工股份有限公司 一种机械铰接臂的控制方法及控制装置
JP5383760B2 (ja) * 2011-09-09 2014-01-08 ファナック株式会社 ワーク質量測定機能を備えたロボット
EP2759815B1 (de) * 2011-09-20 2018-02-28 Ishida Co., Ltd. Massenmessvorrichtung
CN102502405A (zh) * 2011-10-31 2012-06-20 徐州重型机械有限公司 臂架角度检测装置、检测方法及具有该检测装置的起重机
JP5921248B2 (ja) * 2012-02-16 2016-05-24 キヤノン株式会社 ロボットの制御装置、ロボット、そのプログラム及びその制御方法
CN102730584B (zh) * 2012-06-27 2014-12-10 三一重工股份有限公司 起重机主臂保护装置、保护方法和起重机
JP6700669B2 (ja) * 2015-04-07 2020-05-27 キヤノン株式会社 制御方法、ロボット装置、プログラム、記録媒体、及び物品の製造方法
JP6816495B2 (ja) 2016-12-19 2021-01-20 株式会社デンソーウェーブ ロボットのたわみ補正方法、ロボットの制御装置
CN109702742B (zh) * 2018-12-29 2020-06-30 深圳市越疆科技有限公司 一种机械臂调平方法和装置
WO2023181157A1 (ja) * 2022-03-23 2023-09-28 株式会社Fuji 工作機械

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5344746B2 (de) * 1974-05-31 1978-12-01
US4243923A (en) * 1979-01-22 1981-01-06 Massachusetts Institute Of Technology Servo-controlled mobility device
JPS5769315A (en) * 1980-10-13 1982-04-28 Fanuc Ltd Control system of industrial robot
US4362978A (en) * 1980-10-27 1982-12-07 Unimation, Inc. Control system for manipulator apparatus
GB2102590A (en) * 1981-07-23 1983-02-02 Custom Microdesign Digital movement controller for automatic multi-axis machines
JPS5878205A (ja) * 1981-11-02 1983-05-11 Kobe Steel Ltd 工業用ロボツトのテイ−チング方法
JPS58137585A (ja) * 1982-02-05 1983-08-16 株式会社豊田中央研究所 工業用ロボツト
JPS59107882A (ja) * 1982-12-09 1984-06-22 三菱電機株式会社 ロボツトの制御装置

Also Published As

Publication number Publication date
EP0188759B1 (de) 1993-06-09
DE3587396T2 (de) 1993-12-16
EP0188759A3 (en) 1987-10-28
JPS61281304A (ja) 1986-12-11
US4710884A (en) 1987-12-01
EP0188759A2 (de) 1986-07-30

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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