DE3786860D1 - Regelvorrichtung fuer einen roboter. - Google Patents
Regelvorrichtung fuer einen roboter.Info
- Publication number
- DE3786860D1 DE3786860D1 DE8787901684T DE3786860T DE3786860D1 DE 3786860 D1 DE3786860 D1 DE 3786860D1 DE 8787901684 T DE8787901684 T DE 8787901684T DE 3786860 T DE3786860 T DE 3786860T DE 3786860 D1 DE3786860 D1 DE 3786860D1
- Authority
- DE
- Germany
- Prior art keywords
- robot
- control device
- control
- 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
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
-
- 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
- G05B19/237—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 a combination of feedback covered by G05B19/232 - G05B19/235
-
- 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
- G05B2219/33—Director till display
- G05B2219/33337—For each axis a processor, microprocessor
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34076—Shared, common or dual port memory, ram
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39178—Compensation inertia 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41426—Feedforward of torque
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP61056433A JPH0766285B2 (ja) | 1986-03-14 | 1986-03-14 | ロボツトア−ムの制御装置 |
JP5643486A JPS62212812A (ja) | 1986-03-14 | 1986-03-14 | ロボツトア−ムの制御装置 |
JP5643586A JPS62212806A (ja) | 1986-03-14 | 1986-03-14 | ロボツトア−ムの制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
DE3786860D1 true DE3786860D1 (de) | 1993-09-09 |
DE3786860T2 DE3786860T2 (de) | 1993-11-11 |
Family
ID=27295918
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE87901684T Expired - Fee Related DE3786860T2 (de) | 1986-03-14 | 1987-03-14 | Regelvorrichtung für einen roboter. |
Country Status (4)
Country | Link |
---|---|
US (1) | US4873476A (de) |
EP (1) | EP0260326B1 (de) |
DE (1) | DE3786860T2 (de) |
WO (1) | WO1987005721A1 (de) |
Families Citing this family (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6478308A (en) * | 1987-09-19 | 1989-03-23 | Fanuc Ltd | Robot control system based on load conditions |
JP2514669B2 (ja) * | 1987-10-14 | 1996-07-10 | ファナック株式会社 | サ―ボモ―タの制御方式 |
JP2997270B2 (ja) * | 1988-01-19 | 2000-01-11 | ファナック株式会社 | 補間方法 |
JPH01217605A (ja) * | 1988-02-26 | 1989-08-31 | Fanuc Ltd | 多軸多系統工作機械用数値制御装置 |
US5252899A (en) * | 1988-03-09 | 1993-10-12 | Fanuc Ltd | Numerical control system |
JPH02198783A (ja) * | 1989-01-23 | 1990-08-07 | Fanuc Ltd | 産業用ロボットの位置決め補正方式 |
JPH0790461B2 (ja) * | 1989-08-30 | 1995-10-04 | セイコー精機株式会社 | 研削盤用数値制御装置 |
JPH03154104A (ja) * | 1989-11-10 | 1991-07-02 | Mitsubishi Electric Corp | 位置決め制御装置 |
JP2521830B2 (ja) * | 1990-02-14 | 1996-08-07 | 川崎重工業株式会社 | 産業用ロボットの制御方法および装置 |
DE4039771A1 (de) * | 1990-12-13 | 1992-06-17 | Juergen Heesemann | Maschinensteuerung |
JP2716270B2 (ja) * | 1990-12-27 | 1998-02-18 | 株式会社日立製作所 | マニピュレ−タ |
EP0600623B1 (de) * | 1992-12-03 | 1998-01-21 | Advanced Micro Devices, Inc. | Servoregelkreissteuerung |
JP2574983B2 (ja) * | 1993-04-06 | 1997-01-22 | 本田技研工業株式会社 | マルチタスク制御システム |
FR2704077B1 (fr) * | 1993-04-13 | 1995-06-02 | Armand Audrand | Commande numérique à contrôle d'axes par programmes différentiels. |
EP0640929A3 (de) * | 1993-08-30 | 1995-11-29 | Advanced Micro Devices Inc | Zwischenprozessorkommunikation durch RAM-Postamt. |
JP3327123B2 (ja) * | 1996-06-04 | 2002-09-24 | トヨタ自動車株式会社 | 作業用ロボットの統合制御システム |
US6672174B2 (en) * | 2001-07-23 | 2004-01-06 | Fidelica Microsystems, Inc. | Fingerprint image capture device with a passive sensor array |
US7038421B2 (en) * | 2003-06-17 | 2006-05-02 | International Business Machines Corporation | Method and system for multiple servo motor control |
US8000837B2 (en) | 2004-10-05 | 2011-08-16 | J&L Group International, Llc | Programmable load forming system, components thereof, and methods of use |
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 |
US20100188034A1 (en) * | 2009-01-23 | 2010-07-29 | Derek Young | Trainable Robot and Method of Training |
JP2011108044A (ja) * | 2009-11-18 | 2011-06-02 | Fanuc Ltd | N個のロボットを同時に制御するロボット制御装置 |
US10022861B1 (en) * | 2017-04-27 | 2018-07-17 | Engineering Services Inc. | Two joint module and arm using same |
JP7207094B2 (ja) * | 2019-03-29 | 2023-01-18 | セイコーエプソン株式会社 | 水平多関節ロボット |
JP2020163548A (ja) * | 2019-03-29 | 2020-10-08 | セイコーエプソン株式会社 | 水平多関節ロボットおよびロボットシステム |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
DE2852821B1 (de) * | 1978-12-07 | 1980-04-30 | Walter Reis Maschinenbau, 8753 Obernburg | Manipulator |
CH637228A5 (fr) * | 1980-03-27 | 1983-07-15 | Willemin Machines Sa | Dispositif de commande d'une machine ou d'une installation. |
JPS5769315A (en) * | 1980-10-13 | 1982-04-28 | Fanuc Ltd | Control system of industrial robot |
US4409650A (en) * | 1981-03-04 | 1983-10-11 | Shin Meiwa Industry Co., Ltd. | Automatic position controlling apparatus |
JPS5822412A (ja) * | 1981-08-04 | 1983-02-09 | Fanuc Ltd | 工業用ロボツト制御方式 |
JPS5862706A (ja) * | 1981-10-09 | 1983-04-14 | Fanuc Ltd | 数値制御方式 |
US4467436A (en) * | 1981-10-26 | 1984-08-21 | United States Robots, Inc. | Robot arm controller with common bus memory |
JPS58223583A (ja) * | 1982-06-21 | 1983-12-26 | 三菱電機株式会社 | 産業用ロボツトの制御装置 |
US4514814A (en) * | 1982-09-07 | 1985-04-30 | General Electric Company | Multi-processor axis control |
KR900003637B1 (ko) * | 1982-11-26 | 1990-05-28 | 가부시기가이샤 히다찌 세이사꾸쇼 | 로보트의 동작제어장치 |
JPS59153207A (ja) * | 1983-02-21 | 1984-09-01 | Mitsubishi Electric Corp | ロボツトの制御装置 |
GB8324866D0 (en) * | 1983-09-16 | 1983-10-19 | Cambridge Electronic Ind | Control of robots |
JPS60263206A (ja) * | 1984-06-11 | 1985-12-26 | Nissan Motor Co Ltd | マニピユレ−タの制御装置 |
JP2971261B2 (ja) * | 1992-08-12 | 1999-11-02 | 三菱重工業株式会社 | 板材の圧延方法 |
-
1987
- 1987-03-14 EP EP87901684A patent/EP0260326B1/de not_active Expired - Lifetime
- 1987-03-14 DE DE87901684T patent/DE3786860T2/de not_active Expired - Fee Related
- 1987-03-14 WO PCT/JP1987/000162 patent/WO1987005721A1/ja active IP Right Grant
- 1987-03-14 US US07/110,727 patent/US4873476A/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP0260326A4 (de) | 1990-03-12 |
US4873476A (en) | 1989-10-10 |
EP0260326A1 (de) | 1988-03-23 |
EP0260326B1 (de) | 1993-08-04 |
WO1987005721A1 (en) | 1987-09-24 |
DE3786860T2 (de) | 1993-11-11 |
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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 |