DE3782795T2 - Verfahren und vorrichtung zur optimalen parameterregelung von reglern, die rotierende und/oder lineare bewegungen eines industrieroboters steuern. - Google Patents

Verfahren und vorrichtung zur optimalen parameterregelung von reglern, die rotierende und/oder lineare bewegungen eines industrieroboters steuern.

Info

Publication number
DE3782795T2
DE3782795T2 DE8787114012T DE3782795T DE3782795T2 DE 3782795 T2 DE3782795 T2 DE 3782795T2 DE 8787114012 T DE8787114012 T DE 8787114012T DE 3782795 T DE3782795 T DE 3782795T DE 3782795 T2 DE3782795 T2 DE 3782795T2
Authority
DE
Germany
Prior art keywords
control
controllers
industrial robot
optimal parameter
linear movements
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
DE8787114012T
Other languages
English (en)
Other versions
DE3782795D1 (de
Inventor
Mikael Bergman
Torgny Brogaerdh
Sven Joensson
Erik Persson
Lars Oestlund
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.)
ABB Norden Holding AB
Original Assignee
ASEA AB
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
Priority claimed from SE8604103A external-priority patent/SE454658B/sv
Priority claimed from SE8604102A external-priority patent/SE454657B/sv
Application filed by ASEA AB filed Critical ASEA AB
Publication of DE3782795D1 publication Critical patent/DE3782795D1/de
Application granted granted Critical
Publication of DE3782795T2 publication Critical patent/DE3782795T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • G05B19/33—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 using an analogue measuring device
    • G05B19/37—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 using an analogue measuring device for continuous-path control
    • G05B19/371—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 using an analogue measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/373—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 using an analogue measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only

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)
  • Feedback Control In General (AREA)
DE8787114012T 1986-09-29 1987-09-25 Verfahren und vorrichtung zur optimalen parameterregelung von reglern, die rotierende und/oder lineare bewegungen eines industrieroboters steuern. Expired - Lifetime DE3782795T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE8604103A SE454658B (sv) 1986-09-29 1986-09-29 Industrirobot vars mekaniska troghetsmoment i en frihetsgrad styr forsterkningen hos legesregulatorn i denna frihetsgrad
SE8604102A SE454657B (sv) 1986-09-29 1986-09-29 Forfarande och anordning for optimal styrning av reglerparametrar hos en industrirobot

Publications (2)

Publication Number Publication Date
DE3782795D1 DE3782795D1 (de) 1993-01-07
DE3782795T2 true DE3782795T2 (de) 1993-06-09

Family

ID=26659507

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8787114012T Expired - Lifetime DE3782795T2 (de) 1986-09-29 1987-09-25 Verfahren und vorrichtung zur optimalen parameterregelung von reglern, die rotierende und/oder lineare bewegungen eines industrieroboters steuern.

Country Status (3)

Country Link
US (1) US4819184A (de)
EP (1) EP0262600B1 (de)
DE (1) DE3782795T2 (de)

Cited By (5)

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Publication number Priority date Publication date Assignee Title
DE10341673A1 (de) * 2003-09-08 2005-04-28 Bosch Rexroth Ag Widerstandsschweißsystem
DE102006053158A1 (de) * 2006-11-10 2008-05-15 Kuka Roboter Gmbh Robotersteuerung, Roboter und Verfahren zum Steuern eines Roboters
DE102007017578A1 (de) * 2007-04-13 2008-10-16 Kuka Roboter Gmbh Robotersteuerung, Industrieroboter und Verfahren zum Erhalten eines absolutgenauen Modells
DE102009049172A1 (de) * 2009-10-13 2011-06-16 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Steuerung eines Manipulators
DE102008008341B4 (de) 2007-02-13 2019-05-02 Sew-Eurodrive Gmbh & Co Kg Verfahren zum Herstellen eines Steuerprogramms

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US5079491A (en) * 1989-05-23 1992-01-07 Honda Giken Kogyo Kabushiki Kaisha Robot control system
DE3924537A1 (de) * 1989-07-25 1991-02-07 Kuka Schweissanlagen & Roboter Verfahren und vorrichtung zur leistungsoptimierung von mehrachsigen manipulatoren
JP2935713B2 (ja) * 1989-08-22 1999-08-16 ファナック株式会社 数値制御装置
JPH0430203A (ja) * 1990-05-25 1992-02-03 Fanuc Ltd ロボットの加減速時定数制御方法
JP2892802B2 (ja) * 1990-09-21 1999-05-17 株式会社日立製作所 電動機の速度制御装置
US5623428A (en) * 1990-12-25 1997-04-22 Shukyohoji, Kongo Zen Sohozan Shoriji Method for developing computer animation
US5625577A (en) * 1990-12-25 1997-04-29 Shukyohojin, Kongo Zen Sohonzan Shorinji Computer-implemented motion analysis method using dynamics
US5586224A (en) * 1990-12-25 1996-12-17 Shukyohojin, Kongo Zen Sohonzan Shorinji Robot or numerical control programming method
DE4108939A1 (de) * 1991-03-19 1992-09-24 Bodenseewerk Geraetetech Verfahren zum kalibrieren von hochgenauen robotern
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
EP0518303B1 (de) * 1991-06-14 1998-01-07 Honeywell Inc. Proportionalmodus - Handsteuerung mit Kraftrückkopplung
US5443354A (en) * 1992-07-20 1995-08-22 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Hazardous materials emergency response mobile robot
GB2270998B (en) * 1992-09-02 1995-08-23 Fuji Electric Co Ltd Positioning system
US5331264A (en) * 1993-04-15 1994-07-19 Fanuc Robotics North America, Inc. Method and device for generating an input command for a motion control system
US5414620A (en) * 1993-08-09 1995-05-09 Honeywell Inc. Synthetic friction algorithm for a hand control element
JPH07261821A (ja) * 1994-03-16 1995-10-13 Fanuc Ltd 負荷による撓みを考慮したロボット軌道計画方法
US5740327A (en) * 1994-12-27 1998-04-14 Nec Corporation Method of and apparatus for robot tip trajectory control
JPH0916241A (ja) * 1995-06-29 1997-01-17 Fanuc Ltd ロボットの加減速動作の設定方法
SE505975C2 (sv) * 1996-01-31 1997-10-27 Asea Brown Boveri Förfarande för styrning av en industrirobot med hänsyn till belastning och livslängd
SE505981C2 (sv) * 1996-02-14 1997-10-27 Asea Brown Boveri Förfarande för styrning av en industrirobot med hänsyn till moment och belastning
SE509443C2 (sv) 1997-05-15 1999-01-25 Asea Brown Boveri Förfarande för övervakning av en manipulators rörelsestyrning
JP3235535B2 (ja) * 1997-09-26 2001-12-04 松下電器産業株式会社 ロボット制御装置とその制御方法
KR100242447B1 (ko) * 1997-12-31 2000-04-01 윤종용 로봇 제어를 위한 경로 계획 장치 및 경로 계획 방법
JP2941782B1 (ja) * 1998-05-11 1999-08-30 川崎重工業株式会社 スポット溶接ロボットの制御方法および制御装置
US6131062A (en) * 1999-01-21 2000-10-10 Case Corporation Apparatus and method for preventing an automatic operation sequence in a work vehicle
DE10321970A1 (de) 2003-05-15 2004-12-09 Siemens Ag Verfahren zur Bewegungsführung eines bewegbaren Maschinenelementes einer numerisch gesteuerten Werkzeug-oder Produktionsmaschine
US8000837B2 (en) 2004-10-05 2011-08-16 J&L Group International, Llc Programmable load forming system, components thereof, and methods of use
US7979160B2 (en) * 2007-07-31 2011-07-12 Spirit Aerosystems, Inc. System and method for robotic accuracy improvement
JP4256440B2 (ja) * 2007-08-10 2009-04-22 ファナック株式会社 ロボットプログラム調整装置
AT508053A1 (de) * 2009-03-26 2010-10-15 Hehenberger Gerald Dipl Ing Energiegewinnungsanlage, insbesondere windkraftanlage
FR2960075B1 (fr) * 2010-05-14 2012-06-15 Staubli Sa Ets Procede de commande d'une cellule de travail automatisee
IT1400536B1 (it) 2010-05-26 2013-06-11 Oto Melara Spa Braccio robotizzato per un veicolo.
KR101788861B1 (ko) * 2010-09-17 2017-10-20 엘지전자 주식회사 네트워크 시스템
JP2012108608A (ja) * 2010-11-15 2012-06-07 Smc Corp アクチュエータ用駆動制御装置及びアクチュエータの駆動制御方法
DE102011111758A1 (de) 2011-08-24 2013-02-28 Dürr Systems GmbH Steuerverfahren für einen Roboter
USD871473S1 (en) * 2016-11-21 2019-12-31 Nitta Corporation Gripper for industrial robot
USD900182S1 (en) * 2017-04-23 2020-10-27 Franka Emika Gmbh Gripper for robot
JP6844434B2 (ja) * 2017-06-15 2021-03-17 株式会社デンソーウェーブ ロボットの負荷重心位置推定装置及びロボットの負荷重心位置推定方法
JP1602781S (de) * 2017-07-14 2018-04-23
USD869532S1 (en) * 2017-07-14 2019-12-10 Nitta Corporation Gripper for industrial robot
JP1609071S (de) * 2017-07-14 2018-07-17
JP6856469B2 (ja) * 2017-07-19 2021-04-07 ファナック株式会社 サーボモータ制御装置
EP3498433A1 (de) * 2017-12-14 2019-06-19 Universal Robots A/S Dynamische sicherheitstrajektorien in einem robotersystem
US11029695B2 (en) * 2018-03-23 2021-06-08 Amazon Technologies, Inc. Acceleration controls for a mobile drive unit
DE112019004519T5 (de) 2018-09-10 2021-06-02 Fanuc America Corporation Null-einlernen für roboterbahnsteuerung

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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
US4362978A (en) * 1980-10-27 1982-12-07 Unimation, Inc. Control system for manipulator apparatus
JPS58143981A (ja) * 1982-02-19 1983-08-26 株式会社日立製作所 産業用ロボツトの制御方法
US4510428A (en) * 1983-03-25 1985-04-09 Unimation, Inc. Control system for manipulator apparatus with initializing stabilization and inertia scaling
US4547858A (en) * 1983-06-13 1985-10-15 Allied Corporation Dynamic control for manipulator
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GB8324866D0 (en) * 1983-09-16 1983-10-19 Cambridge Electronic Ind Control of robots
US4603284A (en) * 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
JPH0740204B2 (ja) * 1985-03-30 1995-05-01 株式会社東芝 多自由度非線形機械システムの制御装置
US4718078A (en) * 1985-08-19 1988-01-05 Siemens Aktiengesellschaft System for controlling motion of a robot
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US4725965A (en) * 1986-07-23 1988-02-16 American Telephone And Telegraph Company Method for calibrating a SCARA robot
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10341673A1 (de) * 2003-09-08 2005-04-28 Bosch Rexroth Ag Widerstandsschweißsystem
DE102006053158A1 (de) * 2006-11-10 2008-05-15 Kuka Roboter Gmbh Robotersteuerung, Roboter und Verfahren zum Steuern eines Roboters
DE102008008341B4 (de) 2007-02-13 2019-05-02 Sew-Eurodrive Gmbh & Co Kg Verfahren zum Herstellen eines Steuerprogramms
DE102007017578A1 (de) * 2007-04-13 2008-10-16 Kuka Roboter Gmbh Robotersteuerung, Industrieroboter und Verfahren zum Erhalten eines absolutgenauen Modells
DE102009049172A1 (de) * 2009-10-13 2011-06-16 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Steuerung eines Manipulators
DE102009049172B4 (de) * 2009-10-13 2019-07-25 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Steuerung eines Manipulators

Also Published As

Publication number Publication date
EP0262600B1 (de) 1992-11-25
EP0262600A1 (de) 1988-04-06
US4819184A (en) 1989-04-04
DE3782795D1 (de) 1993-01-07

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