DE3587608D1 - Fehlerkorrektur im wege eines roboters. - Google Patents
Fehlerkorrektur im wege eines roboters.Info
- Publication number
- DE3587608D1 DE3587608D1 DE86900281T DE3587608T DE3587608D1 DE 3587608 D1 DE3587608 D1 DE 3587608D1 DE 86900281 T DE86900281 T DE 86900281T DE 3587608 T DE3587608 T DE 3587608T DE 3587608 D1 DE3587608 D1 DE 3587608D1
- Authority
- DE
- Germany
- Prior art keywords
- robot
- way
- error correction
- correction
- error
- 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
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
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35569—Single block format indicates change of speed at start and end
-
- 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
- G05B2219/43009—Acceleration deceleration for each block of data, segment
-
- 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
- G05B2219/43085—Acceleration-deceleration circuit before interpolator
-
- 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
- G05B2219/43115—Adaptive stopping
-
- 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)
- Manipulator (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59278385A JPS61157909A (ja) | 1984-12-29 | 1984-12-29 | ロボツトの経路誤差補正方式 |
Publications (2)
Publication Number | Publication Date |
---|---|
DE3587608D1 true DE3587608D1 (de) | 1993-11-04 |
DE3587608T2 DE3587608T2 (de) | 1994-02-10 |
Family
ID=17596601
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE86900281T Expired - Fee Related DE3587608T2 (de) | 1984-12-29 | 1985-12-26 | Fehlerkorrektur im wege eines roboters. |
Country Status (5)
Country | Link |
---|---|
US (1) | US4728872A (de) |
EP (1) | EP0207997B1 (de) |
JP (1) | JPS61157909A (de) |
DE (1) | DE3587608T2 (de) |
WO (1) | WO1986004162A1 (de) |
Families Citing this family (41)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63106010A (ja) * | 1986-10-23 | 1988-05-11 | Fujitsu Ltd | ロボツトの経路移動制御方法 |
JPS63221404A (ja) * | 1987-03-11 | 1988-09-14 | Fanuc Ltd | ロボツト制御装置 |
JPS63273108A (ja) * | 1987-04-30 | 1988-11-10 | Fanuc Ltd | 速度制御装置 |
JPH0732979B2 (ja) * | 1987-06-17 | 1995-04-12 | ファナック株式会社 | 加減速制御装置 |
JPS6435605A (en) * | 1987-07-30 | 1989-02-06 | Fanuc Ltd | Numerical controller |
JPH0198001A (ja) * | 1987-10-09 | 1989-04-17 | Okuma Mach Works Ltd | 数値制御方式 |
JPH01164280A (ja) * | 1987-12-21 | 1989-06-28 | Fanuc Ltd | 加減速制御方式 |
JP2997270B2 (ja) * | 1988-01-19 | 2000-01-11 | ファナック株式会社 | 補間方法 |
EP0340538B2 (de) * | 1988-05-03 | 1995-11-22 | Siemens Aktiengesellschaft | Verfahren zum Steuern der Bewegung eines Maschinenelementes |
JP2786225B2 (ja) * | 1989-02-01 | 1998-08-13 | 株式会社日立製作所 | 工業用ロボットの制御方法及び装置 |
KR900017735A (ko) * | 1989-05-19 | 1990-12-19 | 강진구 | 이송물의 직선 이송방법 |
JP2935713B2 (ja) * | 1989-08-22 | 1999-08-16 | ファナック株式会社 | 数値制御装置 |
JP2897333B2 (ja) * | 1990-04-11 | 1999-05-31 | ブラザー工業株式会社 | サーボ制御装置 |
JPH04111006A (ja) * | 1990-08-30 | 1992-04-13 | Kobe Steel Ltd | ロボットの経路補間方法 |
KR930007775B1 (ko) * | 1990-12-28 | 1993-08-19 | 삼성전자 주식회사 | 로보트의 직선보간(補間)방법 |
US5396160A (en) * | 1991-03-11 | 1995-03-07 | General Motors Corporation | Method of real-time machine path planning from a math model |
JP3083870B2 (ja) * | 1991-05-10 | 2000-09-04 | ファナック株式会社 | 数値制御装置 |
JP3036143B2 (ja) * | 1991-09-02 | 2000-04-24 | 三菱電機株式会社 | 数値制御装置 |
JPH05108128A (ja) * | 1991-10-18 | 1993-04-30 | Fanuc Ltd | 位置決め完了確認方式 |
US5371669A (en) * | 1992-06-18 | 1994-12-06 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Sliding mode control method having terminal convergence in finite time |
US5373221A (en) * | 1993-07-30 | 1994-12-13 | Fanuc Robotics North America, Inc. | Method and system for estimating robot tool center point speed |
US5508596A (en) * | 1993-10-07 | 1996-04-16 | Omax Corporation | Motion control with precomputation |
US5740327A (en) * | 1994-12-27 | 1998-04-14 | Nec Corporation | Method of and apparatus for robot tip trajectory control |
JP3625901B2 (ja) * | 1995-06-30 | 2005-03-02 | 三菱電機株式会社 | サーボ制御システムの自動適正化方法および装置 |
US6242880B1 (en) * | 1998-09-08 | 2001-06-05 | Cimplus, Inc. | Tolerance based motion control system |
KR100504338B1 (ko) * | 2002-11-13 | 2005-08-04 | 주식회사 로보스타 | 직각좌표 로봇의 동기제어장치 |
CA2526459C (en) * | 2003-06-02 | 2008-06-17 | Honda Motor Co., Ltd. | Teaching data preparing method for articulated robot |
WO2006102517A2 (en) | 2005-03-23 | 2006-09-28 | Hurco Companies, Inc. | Method of tolerance-based trajectory planning and control |
JP2007164260A (ja) * | 2005-12-09 | 2007-06-28 | Yokogawa Electric Corp | モータ制御装置 |
US20070142966A1 (en) * | 2005-12-20 | 2007-06-21 | Khalid Mirza | Process for moving a robot |
US8725283B2 (en) * | 2006-08-04 | 2014-05-13 | Hurco Companies, Inc. | Generalized kinematics system |
US7933677B2 (en) * | 2006-08-04 | 2011-04-26 | Hurco Companies, Inc. | System and method for surface finish management |
US8024068B2 (en) | 2006-08-04 | 2011-09-20 | Hurco Companies, Inc. | Machine tool control system |
TWI353496B (en) * | 2006-08-04 | 2011-12-01 | Hurco Co Inc | System and method and computer readable medium for |
JP5915329B2 (ja) * | 2012-03-29 | 2016-05-11 | 株式会社デンソーウェーブ | ロボットの制御装置 |
JP5915328B2 (ja) * | 2012-03-29 | 2016-05-11 | 株式会社デンソーウェーブ | ロボットの制御装置 |
US8904912B2 (en) | 2012-08-16 | 2014-12-09 | Omax Corporation | Control valves for waterjet systems and related devices, systems, and methods |
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 |
EP4127479A1 (de) | 2020-03-30 | 2023-02-08 | Hypertherm, Inc. | Zylinder für eine flüssigkeitsstrahlpumpe mit multifunktionalen schnittstellenlängsenden |
CN112192575B (zh) * | 2020-10-21 | 2022-06-14 | 哈工大机器人(合肥)国际创新研究院 | 一种相邻关节空间轨迹过渡方法及装置 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1189959A (en) * | 1965-09-03 | 1970-04-29 | Olivetti & Co Spa | Improvements in Numerical Control Devices |
JPS53148677A (en) * | 1977-05-30 | 1978-12-25 | Sharp Corp | Adjustable speed control system in numerical control |
US4128794A (en) * | 1977-10-11 | 1978-12-05 | The United States Of America As Represented By The United States Department Of Energy | Interferometric correction system for a numerically controlled machine |
JPS55118107A (en) * | 1979-03-05 | 1980-09-10 | Hitachi Ltd | Method and device for control of automatic working device |
JPS5773409A (en) * | 1980-10-23 | 1982-05-08 | Fanuc Ltd | Numberical control system |
EP0075792B1 (de) * | 1981-09-24 | 1987-08-26 | Hitachi, Ltd. | Steuerungssystem für Roboterhand |
JPS58154009A (ja) * | 1982-03-08 | 1983-09-13 | Fanuc Ltd | 加減速制御方式 |
JPS58211211A (ja) * | 1982-06-01 | 1983-12-08 | Fanuc Ltd | 数値制御方式 |
JPS5936811A (ja) * | 1982-08-25 | 1984-02-29 | Hitachi Ltd | ロボツトハンドの経路補間方法 |
-
1984
- 1984-12-29 JP JP59278385A patent/JPS61157909A/ja active Pending
-
1985
- 1985-12-26 WO PCT/JP1985/000724 patent/WO1986004162A1/ja active IP Right Grant
- 1985-12-26 DE DE86900281T patent/DE3587608T2/de not_active Expired - Fee Related
- 1985-12-26 US US06/899,299 patent/US4728872A/en not_active Expired - Lifetime
- 1985-12-26 EP EP86900281A patent/EP0207997B1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP0207997A4 (de) | 1989-06-27 |
WO1986004162A1 (en) | 1986-07-17 |
DE3587608T2 (de) | 1994-02-10 |
JPS61157909A (ja) | 1986-07-17 |
EP0207997A1 (de) | 1987-01-14 |
EP0207997B1 (de) | 1993-09-29 |
US4728872A (en) | 1988-03-01 |
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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 |