DE3786477D1 - Mehrfacher roboterantrieb. - Google Patents
Mehrfacher roboterantrieb.Info
- Publication number
- DE3786477D1 DE3786477D1 DE8787105366T DE3786477T DE3786477D1 DE 3786477 D1 DE3786477 D1 DE 3786477D1 DE 8787105366 T DE8787105366 T DE 8787105366T DE 3786477 T DE3786477 T DE 3786477T DE 3786477 D1 DE3786477 D1 DE 3786477D1
- Authority
- DE
- Germany
- Prior art keywords
- robot drive
- multiple robot
- drive
- robot
- 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
- G05B19/19—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
- G05B19/21—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 incremental digital measuring device
- G05B19/23—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 incremental digital measuring device for point-to-point control
- G05B19/231—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 incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
- G05B19/232—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 incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
-
- 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
- G05B2219/37296—Electronic graduation, scale expansion, interpolation
-
- 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
- G05B2219/37538—Window for signal, to detect signal at peak or zero values
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41021—Variable gain
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41195—Cross coupled feedback, position change one axis effects control of other
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41337—Linear drive motor, voice coil
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50228—Synchronize two slides, portal gantry, raising, moving
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
- Numerical Control (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US06/851,509 US4714400A (en) | 1986-04-14 | 1986-04-14 | Plural robotic drive |
Publications (2)
Publication Number | Publication Date |
---|---|
DE3786477D1 true DE3786477D1 (de) | 1993-08-19 |
DE3786477T2 DE3786477T2 (de) | 1994-02-17 |
Family
ID=25310944
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE87105366T Expired - Fee Related DE3786477T2 (de) | 1986-04-14 | 1987-04-10 | Mehrfacher Roboterantrieb. |
Country Status (4)
Country | Link |
---|---|
US (1) | US4714400A (de) |
EP (1) | EP0241883B1 (de) |
JP (1) | JPS62241681A (de) |
DE (1) | DE3786477T2 (de) |
Families Citing this family (55)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6224991A (ja) * | 1985-07-26 | 1987-02-02 | 松下電器産業株式会社 | 産業用ロボツト |
US4808899A (en) * | 1987-03-02 | 1989-02-28 | Cincinnati Milacron Inc. | Method and apparatus for automatic servo gain adjustment for machine control |
US4812725A (en) * | 1987-10-16 | 1989-03-14 | Anwar Chitayat | Positioning device with dual linear motor |
JPH01171739A (ja) * | 1987-12-25 | 1989-07-06 | Matsushita Electric Ind Co Ltd | テーブル駆動装置 |
JPH02149869A (ja) * | 1988-11-30 | 1990-06-08 | Sharp Corp | 複写機の直線駆動装置 |
JP2569297B2 (ja) * | 1989-03-10 | 1997-01-08 | 川崎重工業株式会社 | ロボット走行部の駆動装置 |
US5005823A (en) * | 1989-07-06 | 1991-04-09 | The Charles Stark Draper Laboratory, Inc. | Corner alignment system |
JPH0624575Y2 (ja) * | 1989-07-18 | 1994-06-29 | 日本トムソン株式会社 | 工作用機械器具移送装置 |
WO1991004835A1 (fr) * | 1989-10-03 | 1991-04-18 | Kabushiki Kaisha Yaskawa Denki Seisakusho | Manipulateur utilisant un moteur pas a pas de type plat |
JPH03204009A (ja) * | 1989-12-29 | 1991-09-05 | Matsushita Electric Ind Co Ltd | 2軸同期駆動装置 |
JP3087305B2 (ja) * | 1990-03-05 | 2000-09-11 | 株式会社ニコン | ステージ装置 |
DE4122769A1 (de) * | 1991-07-10 | 1993-01-21 | Ief Werner Gmbh | Positionssensor fuer linearmotoren |
JPH05138564A (ja) * | 1991-11-20 | 1993-06-01 | Juki Corp | ヘツド部駆動方法及び機構 |
JP3066622B2 (ja) * | 1992-08-04 | 2000-07-17 | 本田技研工業株式会社 | 電気自動車用同期モータ制御装置 |
AT401025B (de) * | 1993-04-22 | 1996-05-28 | Gfm Fertigungstechnik | Kanter zum drehen von walzgut |
JPH0775675A (ja) * | 1993-06-16 | 1995-03-20 | Terumo Corp | チューブ装填装置 |
JP3695542B2 (ja) * | 1994-02-23 | 2005-09-14 | 日本トムソン株式会社 | リニア電磁アクチュエータを具備したxy駆動装置 |
JP3595357B2 (ja) * | 1994-06-30 | 2004-12-02 | ファナック株式会社 | ディジタルサーボによるタンデム制御方法 |
DE69601763T2 (de) * | 1995-09-04 | 1999-09-09 | Canon Kk | Einrichtung zur Antriebsregelung |
US5946449A (en) * | 1996-04-05 | 1999-08-31 | Georgia Tech Research Corporation | Precision apparatus with non-rigid, imprecise structure, and method for operating same |
US6139245A (en) * | 1997-07-11 | 2000-10-31 | Brooks Automation Inc. | Robot arm relocation system |
US6076875A (en) * | 1998-02-18 | 2000-06-20 | Systems, Machines, Automation Components, Corporation | Gripper for linear voice coil actuator |
JPH11299291A (ja) * | 1998-04-16 | 1999-10-29 | Sanyo Denki Co Ltd | 多軸モータ制御装置 |
US6212968B1 (en) * | 1998-07-29 | 2001-04-10 | Janome Sewing Machine Co., Ltd, | SCARA robot |
US6533531B1 (en) * | 1998-12-29 | 2003-03-18 | Asml Us, Inc. | Device for handling wafers in microelectronic manufacturing |
US6347259B1 (en) | 1999-04-01 | 2002-02-12 | Virtek Vision International Inc. | High precision positioning device and method of operating same |
JP2000296485A (ja) * | 1999-04-15 | 2000-10-24 | Minolta Co Ltd | マイクロマニピュレータ |
GB2354841B (en) * | 1999-10-01 | 2002-07-24 | Gpc Ag | Pick and place robot system |
US6265839B1 (en) * | 1999-11-10 | 2001-07-24 | Howard Layton | Hoist transfer drive system having X and Y-linear motors |
DE10064930A1 (de) * | 2000-02-10 | 2001-08-16 | Mueller Weingarten Maschf | Horizontales Transportsystem |
JP2001252954A (ja) * | 2000-03-13 | 2001-09-18 | Star Seiki Co Ltd | 成型品取出し機及び成型品取出し方法 |
JP3492583B2 (ja) | 2000-03-27 | 2004-02-03 | ファナック株式会社 | サーボ制御装置 |
US6363832B1 (en) | 2000-06-21 | 2002-04-02 | Caterpillar Inc. | Method and apparatus for minimizing loader frame stress |
US6658324B2 (en) | 2000-09-29 | 2003-12-02 | Gpc Biotech Ag | Pick and place robot system |
US6657449B2 (en) * | 2000-12-21 | 2003-12-02 | Hansaem Digitec Co., Ltd. | Test pin unit for PCB test device and feeding device of the same |
DE10243702B4 (de) * | 2002-09-04 | 2005-06-09 | Schuler Pressen Gmbh & Co. Kg | Vorrichtung zur Herstellung von ausgestanzten und/oder umgeformten Werkstücken |
JP4258262B2 (ja) * | 2003-04-22 | 2009-04-30 | 株式会社安川電機 | ツイン同期制御方法及び装置 |
JP5203700B2 (ja) * | 2004-05-07 | 2013-06-05 | マグネモーション インコーポレイテッド | 輸送手段及び輸送方法 |
DE102005003322B3 (de) * | 2005-01-18 | 2006-08-03 | Carl Zeiss Industrielle Messtechnik Gmbh | Verfahren zum Bestimmen einer Raumkoordinate eines Messpunktes an einem Messobjekt sowie entsprechendes Koordinatenmessgerät |
US20060290211A1 (en) * | 2005-06-27 | 2006-12-28 | Gieskes Koen A | Cartesian positioning system |
ITMI20051220A1 (it) * | 2005-06-28 | 2006-12-29 | Calzoni Srl | Apparecchiatura a motori lineari pe rla movimentazione di canne di supporto di sensori di sommergibili |
DE102005033884A1 (de) | 2005-07-20 | 2007-02-08 | Bosch Rexroth Ag | Verfahren zum Kompensieren von unterschiedlichen Drehmomenten zweier gekoppelter Elektromotoren und Vorrichtung hierfür |
WO2007079503A1 (en) * | 2006-01-06 | 2007-07-12 | Heine Joost Bellingan | Compound motor |
US8616134B2 (en) | 2009-01-23 | 2013-12-31 | Magnemotion, Inc. | Transport system powered by short block linear synchronous motors |
US9032880B2 (en) | 2009-01-23 | 2015-05-19 | Magnemotion, Inc. | Transport system powered by short block linear synchronous motors and switching mechanism |
US8566721B2 (en) * | 2009-04-30 | 2013-10-22 | Apple Inc. | Editing key-indexed graphs in media editing applications |
US8286081B2 (en) * | 2009-04-30 | 2012-10-09 | Apple Inc. | Editing and saving key-indexed geometries in media editing applications |
JP2011217530A (ja) * | 2010-03-31 | 2011-10-27 | Toshiba Mach Co Ltd | サーボ制御方法及びサーボ制御装置 |
US9022720B2 (en) * | 2012-04-02 | 2015-05-05 | Firefly Equipment, Llc | Electrically operated turf stacking system for sod harvesting machine |
KR101371145B1 (ko) * | 2012-05-22 | 2014-03-06 | 삼성중공업 주식회사 | 수중 작업용 로봇 시스템 |
TWI481804B (zh) * | 2012-10-03 | 2015-04-21 | Wei Hua Chaing | 瓶裝藥劑製程之自動化取送料軌道搬運車 |
JP6232752B2 (ja) * | 2013-05-31 | 2017-11-22 | セイコーエプソン株式会社 | 駆動装置、電子部品搬送装置、および電子部品検査装置 |
JP6633516B2 (ja) | 2013-09-21 | 2020-01-22 | マグネモーション インコーポレイテッド | パッケージングおよび他の用途のためのリニアモータ輸送 |
CN104909165B (zh) * | 2015-06-19 | 2017-04-26 | 合肥京东方光电科技有限公司 | 立柱位置调节装置、卡匣变换装置和基板搬送系统 |
US9958852B2 (en) * | 2016-01-25 | 2018-05-01 | Rockwell Automation Technologies, Inc. | Multi-mover linear motor controller providing shared coordination subsystem |
Family Cites Families (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3578956A (en) * | 1969-05-13 | 1971-05-18 | Allen Bradley Co | Phase modulator of two dynamic counters |
US3857075A (en) * | 1971-07-19 | 1974-12-24 | B Sawyer | Positioning device |
JPS5425196B2 (de) * | 1972-03-16 | 1979-08-25 | ||
JPS587437B2 (ja) * | 1975-12-09 | 1983-02-09 | 株式会社椿本チエイン | ロボツトノソウサワントリツケソウチ |
JPS5336869A (en) * | 1976-09-14 | 1978-04-05 | Toshiba Corp | Movable runner |
US4177002A (en) * | 1977-06-08 | 1979-12-04 | Motoda Denshi Kogyo Kabushiki Kaisha | Cooperative drive robot |
US4245298A (en) * | 1979-01-15 | 1981-01-13 | Magicam, Inc. | System for creating a servo control signal |
US4233740A (en) * | 1979-02-16 | 1980-11-18 | Autometric Incorporated | Photogrammetric plotter and constraint free drive system therefore |
US4385028A (en) * | 1980-03-20 | 1983-05-24 | Lord Electric Company, Inc. | System for controlling position and movement of manipulator device from absolute distance data standard |
SU1023574A1 (ru) * | 1980-04-19 | 1983-06-15 | Одесский ордена Трудового Красного Знамени политехнический институт | Электропривод |
JPS5725357A (en) * | 1980-07-23 | 1982-02-10 | Mitsubishi Gas Chem Co Inc | Curable resin composition |
US4401931A (en) * | 1980-12-08 | 1983-08-30 | International Business Machines Corporation | Apparatus actuated by a pair of stepper motors with shared drive |
US4422027A (en) * | 1981-03-16 | 1983-12-20 | The United States Of America As Represented By The Secretary Of The Army | Linear motor controller |
US4405884A (en) * | 1981-04-27 | 1983-09-20 | Weber Harold J | Shaft position synchronization means for multiple synchronous induction motors |
EP0074767B1 (de) * | 1981-09-07 | 1988-01-27 | Hugh-Peter Granville Kelly | Lineare Motoren und deren Regelschaltung |
JPS58186364A (ja) * | 1982-04-21 | 1983-10-31 | Matsushita Electric Ind Co Ltd | Xyリニアモ−タ装置 |
GB2121560B (en) * | 1982-05-08 | 1985-10-30 | Pa Management Consult | Control system for two relatively movable members |
US4453221A (en) * | 1982-05-13 | 1984-06-05 | Cincinnati Milacron Inc. | Manipulator with adaptive velocity controlled path motion |
JPS5956888A (ja) * | 1982-09-22 | 1984-04-02 | Tokyo Erekutoron Kk | 二次元駆動装置 |
JPS5988279A (ja) * | 1982-10-15 | 1984-05-22 | 新明和工業株式会社 | 多関節ロボットの座標変換方法およびそのための装置 |
JPS59107884A (ja) * | 1982-12-10 | 1984-06-22 | 株式会社日立製作所 | ロボツトの制御方式 |
US4494060A (en) * | 1983-03-02 | 1985-01-15 | Anorad Corporation | Axis controller for robotic actuator |
US4509001A (en) * | 1983-03-04 | 1985-04-02 | Matsushita Electric Industrial Co., Ltd. | Brushless linear servomotor |
DE3312939C2 (de) * | 1983-04-11 | 1985-04-25 | Blohm + Voss Ag, 2000 Hamburg | Steuervorrichtung für einen Industrie-Roboter mit mindestens einer Achse |
DE3411651C1 (de) * | 1984-03-29 | 1989-04-27 | bso Steuerungstechnik GmbH, 6603 Sulzbach | Regelanordnung fuer den Gleichlauf mehrerer Antriebe |
JPS615302A (ja) * | 1984-06-19 | 1986-01-11 | Nissan Motor Co Ltd | マニピユレ−タの制御装置 |
JPS6123213A (ja) * | 1984-07-10 | 1986-01-31 | Kobe Steel Ltd | ロボツトの制御装置 |
US4629955A (en) * | 1985-09-04 | 1986-12-16 | French Daniel B | Method and apparatus for machine control |
-
1986
- 1986-04-14 US US06/851,509 patent/US4714400A/en not_active Expired - Fee Related
-
1987
- 1987-03-10 JP JP62053234A patent/JPS62241681A/ja active Pending
- 1987-04-10 DE DE87105366T patent/DE3786477T2/de not_active Expired - Fee Related
- 1987-04-10 EP EP87105366A patent/EP0241883B1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
DE3786477T2 (de) | 1994-02-17 |
EP0241883A3 (en) | 1989-08-16 |
JPS62241681A (ja) | 1987-10-22 |
EP0241883A2 (de) | 1987-10-21 |
US4714400A (en) | 1987-12-22 |
EP0241883B1 (de) | 1993-07-14 |
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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 |