DE3680591D1 - Industrieroboter mit einer programmiereinrichtung fuer einen motorisch angetriebenen arm mit einer variablen servosteuerung. - Google Patents
Industrieroboter mit einer programmiereinrichtung fuer einen motorisch angetriebenen arm mit einer variablen servosteuerung.Info
- Publication number
- DE3680591D1 DE3680591D1 DE8686107276T DE3680591T DE3680591D1 DE 3680591 D1 DE3680591 D1 DE 3680591D1 DE 8686107276 T DE8686107276 T DE 8686107276T DE 3680591 T DE3680591 T DE 3680591T DE 3680591 D1 DE3680591 D1 DE 3680591D1
- Authority
- DE
- Germany
- Prior art keywords
- servo control
- motor driven
- industrial robot
- programming device
- driven arm
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
- B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
-
- 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
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36159—Detachable or portable programming unit, display, pc, pda
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36422—During teaching shut off, disable motor to move arm easy
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36429—Power assisted positioning
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36472—During teaching low servo power, during playback high servo power
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S700/00—Data processing: generic control systems or specific applications
- Y10S700/90—Special robot structural element
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP60116921A JPS621004A (ja) | 1985-05-30 | 1985-05-30 | ロボツト |
Publications (1)
Publication Number | Publication Date |
---|---|
DE3680591D1 true DE3680591D1 (de) | 1991-09-05 |
Family
ID=14698964
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE8686107276T Expired - Lifetime DE3680591D1 (de) | 1985-05-30 | 1986-05-28 | Industrieroboter mit einer programmiereinrichtung fuer einen motorisch angetriebenen arm mit einer variablen servosteuerung. |
Country Status (5)
Country | Link |
---|---|
US (1) | US4737697A (de) |
EP (1) | EP0205975B1 (de) |
JP (1) | JPS621004A (de) |
KR (1) | KR890000716B1 (de) |
DE (1) | DE3680591D1 (de) |
Families Citing this family (35)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4946337A (en) * | 1987-07-09 | 1990-08-07 | Kabushiki Kaisha Yaskawa Denki Seisakusho | Parallel link robot arm |
JPS6487174A (en) * | 1987-09-22 | 1989-03-31 | Fanuc Ltd | Controller for industrial robot |
JPH02262987A (ja) * | 1989-04-03 | 1990-10-25 | Mitsubishi Heavy Ind Ltd | ダイレクト教示方式ロボットの教示装置 |
JPH02277102A (ja) * | 1989-04-18 | 1990-11-13 | Toshiba Mach Co Ltd | 数値制御工作機械における加工プログラムティーチング方式 |
US5122720A (en) * | 1989-12-01 | 1992-06-16 | Martinsound Technologies, Inc. | Automated fader system |
JPH03190688A (ja) * | 1989-12-19 | 1991-08-20 | Fanuc Ltd | ロボット非常停止回路 |
US5425133A (en) * | 1990-01-24 | 1995-06-13 | Canon Kabushiki Kaisha | Robot apparatus with an electrical driver for controlling a detachable rotor hand |
JPH03240106A (ja) * | 1990-02-16 | 1991-10-25 | Mitsubishi Heavy Ind Ltd | ダイレクト教示方式ロボットの教示装置 |
US5086400A (en) * | 1990-05-11 | 1992-02-04 | The United States Of America As Represented The The Administrator Of The National Aeronautics And Space Administration | Bilevel shared control for teleoperators |
DE4028324A1 (de) * | 1990-09-06 | 1992-03-12 | Reichenbacher Gmbh | Bildhauerkopiermaschine |
US5101472A (en) * | 1990-10-04 | 1992-03-31 | Repperger Daniel W | Military robotic controller with majorizing function and nonlinear torque capability |
DE69229670T2 (de) * | 1992-04-01 | 2000-01-27 | Penguin Wax Co. Ltd., Osaka | Bodenbehandlungsmaschine |
JPH06332538A (ja) * | 1993-05-19 | 1994-12-02 | Fanuc Ltd | 柔軟なサーボ制御方法 |
JP3283650B2 (ja) * | 1993-07-05 | 2002-05-20 | ファナック株式会社 | ロボット制御装置 |
JP3804994B2 (ja) * | 1994-07-15 | 2006-08-02 | ファナック株式会社 | ロボットの教示方法 |
DE19524136A1 (de) * | 1995-07-03 | 1997-01-09 | Nsm Ag | Verfahren zum Positionieren eines Schrittmotors für ein Wiedergabe- und/oder Aufzeichnungs- und/oder Ausgabegerät für Platten und ein solches Gerät hierzu |
IL120889A (en) | 1997-05-22 | 1998-10-30 | Eshed Robotec 1982 Ltd | Method and facility for direct learning of vending machines |
WO2002086637A1 (de) * | 2001-04-22 | 2002-10-31 | Neuronics Ag | Knickarmroboter |
US20050053909A1 (en) * | 2003-09-08 | 2005-03-10 | Chan Kwok Hung | Learn-and-play programming method for motorized toys and domestic appliances |
US7366773B2 (en) * | 2006-01-30 | 2008-04-29 | Dgi Creations, Llc | Alternative communications paths for data sent over power line carrier |
US20100188034A1 (en) * | 2009-01-23 | 2010-07-29 | Derek Young | Trainable Robot and Method of Training |
WO2010088959A1 (en) * | 2009-02-06 | 2010-08-12 | Abb Technology Ab | Method for programming an industrial robot by lead-through |
US8204623B1 (en) * | 2009-02-13 | 2012-06-19 | Hrl Laboratories, Llc | Planning approach for obstacle avoidance in complex environment using articulated redundant robot arm |
CN102483625B (zh) | 2009-08-14 | 2015-09-09 | Abb技术有限公司 | 工业机器人和调节机器人程序的方法 |
US9914216B2 (en) | 2012-11-09 | 2018-03-13 | Abb Schweiz Ag | Robot control with improved safety |
JP6527655B2 (ja) * | 2013-03-25 | 2019-06-05 | 株式会社デンソーウェーブ | アームの操作方法及び操作装置 |
TWD172241S (zh) * | 2014-10-10 | 2015-12-01 | 鴻海精密工業股份有限公司 | 機器人 |
US9804593B1 (en) * | 2014-12-12 | 2017-10-31 | X Development Llc | Methods and systems for teaching positions to components of devices |
DE102015117213B4 (de) * | 2015-10-08 | 2020-10-29 | Kastanienbaum GmbH | Roboterarm |
CN108340351B (zh) * | 2018-01-31 | 2023-05-05 | 广东工业大学 | 一种机器人示教装置、方法及示教机器人 |
JP6698733B2 (ja) * | 2018-04-06 | 2020-05-27 | ファナック株式会社 | モータエンコーダ及びセンサを用いて学習制御を行うロボットシステム |
JP2022122366A (ja) * | 2021-02-10 | 2022-08-23 | セイコーエプソン株式会社 | ロボットシステム |
US20230122989A1 (en) * | 2021-10-19 | 2023-04-20 | Techman Robot Inc. | Safety system and method for teaching a robot |
WO2023217395A1 (en) * | 2022-05-13 | 2023-11-16 | Abb Schweiz Ag | Safety functions in an industrial robot |
USD997223S1 (en) * | 2023-06-07 | 2023-08-29 | Primate Robot Hong Kong Co., Limited | Robot |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NO131906C (de) * | 1973-02-13 | 1975-08-20 | Trallfa Nils Underhaug As | |
GB1418710A (en) * | 1973-12-19 | 1975-12-24 | Pye Ltd | Automatic manipulating apparatus |
FR2464803A1 (fr) * | 1979-09-14 | 1981-03-20 | Devilbiss Toussaint | Procede pour la programmation de robots par action volontaire sur leurs organes mobiles et application aux robots pour la mise en oeuvre dudit procede |
US4283764A (en) * | 1979-10-12 | 1981-08-11 | Nordson Corporation | Manually programmable robot with power-assisted motion during programming |
NO810726L (no) * | 1980-03-05 | 1981-09-07 | Thermwood Corp | Industrirobot. |
CH639584A5 (fr) * | 1980-10-10 | 1983-11-30 | Microbo Sa | Automate susceptible d'apprentissage. |
US4442387A (en) * | 1981-11-25 | 1984-04-10 | Unimation, Inc. | Safe programming system for industrial robots |
JPH0248923B2 (ja) * | 1982-11-26 | 1990-10-26 | Kobe Steel Ltd | Dairekutoteiichingugatarobotsutonoseigyosochi |
JPS59157715A (ja) * | 1983-02-25 | 1984-09-07 | Hitachi Ltd | ロボツトの直接教示方法 |
JPS6029292A (ja) * | 1983-07-29 | 1985-02-14 | 株式会社日立製作所 | ロボツトの腕制御方式 |
-
1985
- 1985-05-30 JP JP60116921A patent/JPS621004A/ja active Pending
-
1986
- 1986-05-07 KR KR1019860003539A patent/KR890000716B1/ko not_active IP Right Cessation
- 1986-05-28 DE DE8686107276T patent/DE3680591D1/de not_active Expired - Lifetime
- 1986-05-28 EP EP86107276A patent/EP0205975B1/de not_active Expired - Lifetime
- 1986-05-29 US US06/868,654 patent/US4737697A/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
EP0205975A3 (en) | 1987-11-19 |
EP0205975B1 (de) | 1991-07-31 |
KR890000716B1 (ko) | 1989-03-30 |
JPS621004A (ja) | 1987-01-07 |
US4737697A (en) | 1988-04-12 |
KR860008841A (ko) | 1986-12-18 |
EP0205975A2 (de) | 1986-12-30 |
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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 |