DE3781844D1 - Positionsausgleichsteuerungssystem fuer ein servomechanismusgeraet. - Google Patents

Positionsausgleichsteuerungssystem fuer ein servomechanismusgeraet.

Info

Publication number
DE3781844D1
DE3781844D1 DE8787110290T DE3781844T DE3781844D1 DE 3781844 D1 DE3781844 D1 DE 3781844D1 DE 8787110290 T DE8787110290 T DE 8787110290T DE 3781844 T DE3781844 T DE 3781844T DE 3781844 D1 DE3781844 D1 DE 3781844D1
Authority
DE
Germany
Prior art keywords
control system
compensation control
position compensation
servomechanism device
servomechanism
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
DE8787110290T
Other languages
English (en)
Other versions
DE3781844T2 (de
Inventor
Kyozo Tachibana
Toshihiko Sakai
Hisaaki Hirabayashi
Koichi Sugimoto
Hiroshi Sugai
Hisakazu Ninomiya
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 Ltd
Original Assignee
Hitachi 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 Ltd filed Critical Hitachi Ltd
Application granted granted Critical
Publication of DE3781844D1 publication Critical patent/DE3781844D1/de
Publication of DE3781844T2 publication Critical patent/DE3781844T2/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
    • G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • 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
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position Or Direction (AREA)
DE8787110290T 1986-07-22 1987-07-16 Positionsausgleichsteuerungssystem fuer ein servomechanismusgeraet. Expired - Fee Related DE3781844T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP61170852A JPS6327904A (ja) 1986-07-22 1986-07-22 サ−ボ機構装置の位置修正制御方式

Publications (2)

Publication Number Publication Date
DE3781844D1 true DE3781844D1 (de) 1992-10-29
DE3781844T2 DE3781844T2 (de) 1993-05-06

Family

ID=15912515

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8787110290T Expired - Fee Related DE3781844T2 (de) 1986-07-22 1987-07-16 Positionsausgleichsteuerungssystem fuer ein servomechanismusgeraet.

Country Status (4)

Country Link
US (1) US4788482A (de)
EP (1) EP0254211B1 (de)
JP (1) JPS6327904A (de)
DE (1) DE3781844T2 (de)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH071463B2 (ja) * 1986-06-30 1995-01-11 フアナツク株式会社 ロボツト制御装置
JPS63190583A (ja) * 1987-01-29 1988-08-08 Fanuc Ltd 速度制御方式
US4817848A (en) * 1988-05-12 1989-04-04 Hughes Aircraft Company Compliant motion servo
US5231616A (en) * 1989-04-06 1993-07-27 Hewlett-Packard Company Calibration of a cartridge handling device using mechanical sense of touch
DE3922524A1 (de) * 1989-07-08 1991-01-17 Kuka Schweissanlagen & Roboter Verfahren zur regelung der bewegungen einer achse an programmgesteuerten maschinen und regelsystem
JP2670871B2 (ja) * 1989-11-20 1997-10-29 ファナック株式会社 フレキシブル・フィードバック方法
JP3030046B2 (ja) * 1990-03-22 2000-04-10 豊田工機株式会社 非真円創成装置
FR2665388B1 (fr) * 1990-08-02 1994-08-26 Num Sa Procede et dispositif de commande predictive applicable a une machine-outil a commande numerique.
US6788999B2 (en) 1992-01-21 2004-09-07 Sri International, Inc. Surgical system
US6963792B1 (en) 1992-01-21 2005-11-08 Sri International Surgical method
US5502638A (en) * 1992-02-10 1996-03-26 Honda Giken Kogyo Kabushiki Kaisha System for obstacle avoidance path planning for multiple-degree-of-freedom mechanism
US5208523A (en) * 1992-03-10 1993-05-04 Wangtek, Inc. Stepper motor with vernier control mode
US5397323A (en) * 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
JP3129622B2 (ja) * 1994-12-26 2001-01-31 ファナック株式会社 フルクローズド・ループ方式における象限突起補正方法
US5814038A (en) 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
US5649956A (en) 1995-06-07 1997-07-22 Sri International System and method for releasably holding a surgical instrument
SE509505C2 (sv) * 1996-02-20 1999-02-01 Neos Robotics Ab Positioneringsmetod och positioneringsanordning f ör ett produktionssystem
ES2359308B1 (es) * 2009-10-13 2012-03-23 Universitat Politécnica de Catalunya Servomando para el control de veh�?culos.
JP2017148931A (ja) * 2016-02-19 2017-08-31 株式会社荏原製作所 研磨装置および研磨方法
JP6581050B2 (ja) * 2016-08-24 2019-09-25 川崎重工業株式会社 ロボットの遠隔監視システム

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3422965A (en) * 1967-02-13 1969-01-21 Westinghouse Electric Corp Manipulator apparatus
US4132937A (en) * 1976-10-18 1979-01-02 Unimation, Inc. Programmable manipulator with dynamic feedback apparatus for stabilization
DE2656433C3 (de) * 1976-12-14 1983-11-17 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V., 8000 Muenchen Verfahren und Anordnung zur Regelung von Manipulatoen und industriellen Robotern
US4068156A (en) * 1977-03-01 1978-01-10 Martin Marietta Corporation Rate control system for manipulator arms
US4205308A (en) * 1977-11-21 1980-05-27 Fmc Corporation Programmable alarm system for marine loading arms
US4219766A (en) * 1978-03-27 1980-08-26 Qume Corporation Hybrid dual mode servo-system
US4338672A (en) * 1978-04-20 1982-07-06 Unimation, Inc. Off-line teach assist apparatus and on-line control apparatus
US4362978A (en) * 1980-10-27 1982-12-07 Unimation, Inc. Control system for manipulator apparatus
US4426608A (en) * 1981-04-10 1984-01-17 Massachusetts Institute Of Technology Stepping motor control system
FR2520523A1 (fr) * 1982-01-27 1983-07-29 Commissariat Energie Atomique Structure de commande analogique pour boucles d'asservissement de la position en rotation d'un moteur a charge inertielle variable
US4547858A (en) * 1983-06-13 1985-10-15 Allied Corporation Dynamic control for manipulator
EP0151417A1 (de) * 1984-01-19 1985-08-14 Hitachi, Ltd. Verfahren zur Korrektur von Koordinatensystemen eines mit einem Sichtgerät ausgerüsteten Roboters und Apparatur dafür
US4603284A (en) * 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
US4609855A (en) * 1984-11-09 1986-09-02 Motorola, Inc. Adaptive servomotor control
US4710884A (en) * 1984-12-19 1987-12-01 Hitachi Construction Machinery Co., Ltd. Device for compensating for deflection in a pliable positioning apparatus
US4727303A (en) * 1986-05-22 1988-02-23 Gmf Robotics Corporation Positional control method and system utilizing same

Also Published As

Publication number Publication date
EP0254211A3 (en) 1989-01-04
EP0254211A2 (de) 1988-01-27
DE3781844T2 (de) 1993-05-06
JPS6327904A (ja) 1988-02-05
EP0254211B1 (de) 1992-09-23
US4788482A (en) 1988-11-29

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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