DE3787342D1 - Steuersystem für einen Industrieroboter mit einer Voraussichtsfunktion. - Google Patents

Steuersystem für einen Industrieroboter mit einer Voraussichtsfunktion.

Info

Publication number
DE3787342D1
DE3787342D1 DE87308743T DE3787342T DE3787342D1 DE 3787342 D1 DE3787342 D1 DE 3787342D1 DE 87308743 T DE87308743 T DE 87308743T DE 3787342 T DE3787342 T DE 3787342T DE 3787342 D1 DE3787342 D1 DE 3787342D1
Authority
DE
Germany
Prior art keywords
control system
industrial robot
foresight
function
foresight function
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
Application number
DE87308743T
Other languages
English (en)
Other versions
DE3787342T2 (de
Inventor
Yasuo Toyota Jidosha Ishiguro
Yoshito Toyota Jidosha Ka Kato
Fumiaki K K Toyota Chuo Takeda
Mitsuo K K Toyota Chuo K Koide
Toshitaka K K Toyota Chuo Kuno
Masaru K K Toyota Chuo Nakano
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.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
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 Toyota Motor Corp filed Critical Toyota Motor Corp
Application granted granted Critical
Publication of DE3787342D1 publication Critical patent/DE3787342D1/de
Publication of DE3787342T2 publication Critical patent/DE3787342T2/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
    • G05B19/42—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
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • 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
    • G05B2219/36417—Programmed coarse position, fine position by alignment, follow line, path adaptive

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE87308743T 1986-10-02 1987-10-02 Steuersystem für einen Industrieroboter mit einer Voraussichtsfunktion. Expired - Fee Related DE3787342T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP61234772A JPH07104692B2 (ja) 1986-10-02 1986-10-02 予見追跡制御型ロボツト

Publications (2)

Publication Number Publication Date
DE3787342D1 true DE3787342D1 (de) 1993-10-14
DE3787342T2 DE3787342T2 (de) 1994-02-24

Family

ID=16976122

Family Applications (1)

Application Number Title Priority Date Filing Date
DE87308743T Expired - Fee Related DE3787342T2 (de) 1986-10-02 1987-10-02 Steuersystem für einen Industrieroboter mit einer Voraussichtsfunktion.

Country Status (4)

Country Link
US (1) US4831316A (de)
EP (1) EP0266070B1 (de)
JP (1) JPH07104692B2 (de)
DE (1) DE3787342T2 (de)

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US4843287A (en) * 1987-12-31 1989-06-27 Westinghouse Electric Corp. Path contriving system for look-ahead sensor in a robotic control system
JPH02210506A (ja) * 1987-12-31 1990-08-21 Westinghouse Electric Corp <We> ロボット制御方法及びシステム
US4833381A (en) * 1987-12-31 1989-05-23 Westinghouse Electric Corp. Optical automatic seam tracker and real time control system for an industrial robot
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US5017082A (en) * 1988-03-07 1991-05-21 Tokyo Electron Limited Handling apparatus
JP2708458B2 (ja) * 1988-04-01 1998-02-04 株式会社豊田中央研究所 倣い制御ロボット
US4969108A (en) * 1988-04-08 1990-11-06 Cincinnati Milacron Inc. Vision seam tracking method and apparatus for a manipulator
JP2676793B2 (ja) * 1988-06-30 1997-11-17 トヨタ自動車株式会社 倣い制御ロボット
JP2512099B2 (ja) * 1988-08-24 1996-07-03 松下電器産業株式会社 ロボットの動作教示方法および制御装置
US4952772A (en) * 1988-11-16 1990-08-28 Westinghouse Electric Corp. Automatic seam tracker and real time error cumulative control system for an industrial robot
JPH081819Y2 (ja) * 1989-08-23 1996-01-24 豊田工機株式会社 ロボット制御装置
DE4026759A1 (de) * 1989-09-14 1991-03-28 Gen Electric Mit schweissstossverfolgung arbeitendes laserschweisssystem
DE3938851C1 (de) * 1989-11-23 1990-11-22 Maho Ag, 8962 Pfronten, De
JPH0433104U (de) * 1990-07-11 1992-03-18
US5083073A (en) * 1990-09-20 1992-01-21 Mazada Motor Manufacturing U.S.A. Corp. Method and apparatus for calibrating a vision guided robot
JPH04101102U (ja) * 1991-01-31 1992-09-01 豊田工機株式会社 倣い加工装置
JPH05143139A (ja) * 1991-11-21 1993-06-11 Fanuc Ltd ワーク加工再開方法
US5761390A (en) * 1991-12-12 1998-06-02 Hitachi, Ltd. Robot for removing unnecessary portion on workpiece
US5255096B1 (en) * 1992-04-10 1997-12-23 William M Boyle Video time code synchronized robot control apparatus
US5339103A (en) * 1992-08-18 1994-08-16 Schmidt Robert H Part machining programming using a camera interchangeable with maching nozzle
JPH06149327A (ja) * 1992-11-12 1994-05-27 Fanuc Ltd リアルタイム位置補正方法
GB9300403D0 (en) * 1993-01-11 1993-03-03 Huissoon Jan P Dynamic seam tracking with redundant axes control
US5657394A (en) * 1993-06-04 1997-08-12 Integrated Technology Corporation Integrated circuit probe card inspection system
JPH0816221A (ja) * 1994-06-28 1996-01-19 Fanuc Ltd レーザセンサを用いたロボット教示経路の変更方法
US5987726A (en) 1996-03-11 1999-11-23 Fanuc Robotics North America, Inc. Programmable positioner for the stress-free assembly of components
JP3799581B2 (ja) * 1996-04-09 2006-07-19 旭硝子株式会社 ガラス成形装置
US5959425A (en) * 1998-10-15 1999-09-28 Fanuc Robotics North America, Inc. Vision guided automatic robotic path teaching method
US6327520B1 (en) 1999-08-31 2001-12-04 Intelligent Machine Concepts, L.L.C. Planar normality sensor
US6259519B1 (en) 1999-08-31 2001-07-10 Intelligent Machine Concepts, L.L.C. Method of determining the planar inclination of a surface
US6374158B1 (en) * 2000-02-15 2002-04-16 General Electric Company Robotic laser pointer
US6285920B1 (en) 2000-02-18 2001-09-04 Fanuc Robotics North America Method of robot teaching with motion constraints
JP3806342B2 (ja) * 2001-11-26 2006-08-09 三菱重工業株式会社 ３次元形状物溶接方法及びその装置
JP2005108144A (ja) * 2003-10-02 2005-04-21 Fanuc Ltd ロボットの補正データ確認装置
CA2489941C (en) * 2003-12-18 2012-08-14 Comau S.P.A. A method and device for laser welding
DE102004011769B3 (de) * 2004-03-09 2005-08-18 Kuka Schweissanlagen Gmbh Verfahren zum Laserbearbeiten und Lasereinrichtung
ITTO20040361A1 (it) * 2004-05-28 2004-08-28 Comau Spa Metodo e dispositivo per saldatura laser remota mediante robot, con controllo semplificato della direzione di focalizzazione del fascio laser.
JP4857534B2 (ja) * 2004-07-13 2012-01-18 パナソニック株式会社 アーク溶接ロボット
US20060042083A1 (en) * 2004-08-27 2006-03-02 Baker Martin C Repair of turbines on wing
DE102004042135A1 (de) * 2004-08-30 2006-03-02 Iht Automation Gmbh & Co. Kg Verfahren zur Einstellung mindestens eines vorgegebenen Abstands zwischen einem Bearbeitungswerkzeug und einem metallischen Werkstück
JP2006154924A (ja) * 2004-11-25 2006-06-15 Denso Wave Inc 自動化設備システム
JP4922584B2 (ja) * 2004-12-10 2012-04-25 株式会社安川電機 ロボットシステム
JP2006331255A (ja) * 2005-05-30 2006-12-07 Daihen Corp 産業用ロボットの制御方法
JP2007098464A (ja) * 2005-10-07 2007-04-19 Nissan Motor Co Ltd レーザー加工ロボット制御装置、レーザー加工ロボット制御方法およびレーザー加工ロボット制御プログラム
DE102007008903A1 (de) * 2007-02-23 2008-08-28 Abb Technology Ag Einrichtung zum Steuern eines Roboters
DE102007062952A1 (de) * 2007-12-21 2009-07-02 Karosseriewerke Dresden Gmbh Verfahren und Einrichtung zum Schweißen von Sitzstrukturen sowie Sitz
WO2009102767A2 (en) * 2008-02-11 2009-08-20 Fanuc Robotics America, Inc. Method of controlling a robot for small shape generation
DE102008047575B4 (de) * 2008-09-17 2012-09-27 Leica Biosystems Nussloch Gmbh Gerät zur Handhabung mindestens eines Objektträgers
US7908757B2 (en) 2008-10-16 2011-03-22 Hexagon Metrology, Inc. Articulating measuring arm with laser scanner
JP2010120123A (ja) * 2008-11-20 2010-06-03 Yamaha Motor Co Ltd 直交ロボット、該直交ロボットを備えた部品実装装置および前記直交ロボットの制御方法
US8099877B2 (en) 2009-11-06 2012-01-24 Hexagon Metrology Ab Enhanced position detection for a CMM
CA2796369A1 (en) * 2010-04-13 2011-10-20 National Research Council Of Canada Laser processing control method
US8763267B2 (en) 2012-01-20 2014-07-01 Hexagon Technology Center Gmbh Locking counterbalance for a CMM
WO2015079740A1 (ja) * 2013-11-28 2015-06-04 三菱電機株式会社 ロボットシステムおよびロボットシステムの制御方法
JP2015171746A (ja) * 2014-03-12 2015-10-01 ファナック株式会社 制動部を備えた駆動軸を有する産業用ロボット
CA2946081A1 (en) 2014-04-16 2015-10-22 University Of Southern California Automated construction of towers and columns
ITUB20154937A1 (it) * 2015-11-03 2017-05-03 Scm Group Spa Dispositivo di lavorazione perfezionato e relativo metodo di funzionamento.
JP6496340B2 (ja) * 2017-03-17 2019-04-03 ファナック株式会社 スキャナ制御装置、ロボット制御装置及びリモートレーザ溶接ロボットシステム
JP6517871B2 (ja) * 2017-04-25 2019-05-22 ファナック株式会社 溶接ロボットの教示システムおよび教示方法
JP7179844B2 (ja) 2017-11-13 2022-11-29 ヘキサゴン メトロロジー，インコーポレイテッド 光学スキャニング装置の熱管理
JP6836558B2 (ja) * 2018-08-31 2021-03-03 ファナック株式会社 レーザ加工のための教示装置
WO2020250306A1 (ja) * 2019-06-11 2020-12-17 株式会社安川電機 制御システム、監視装置、監視方法、及びプログラム
JP2020203349A (ja) * 2019-06-18 2020-12-24 株式会社ダイヘン ロボット制御装置、及びロボット制御システム
JP7249242B2 (ja) * 2019-08-22 2023-03-30 川崎重工業株式会社 シーリングロボット

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* Cited by examiner, † Cited by third party
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FR2217117A1 (en) * 1973-02-08 1974-09-06 Inst Avtomatiki Min Photoelectric arc welding electrode control - based on photocells for joint and weld and two servo systems
FR2475445A1 (fr) * 1980-02-13 1981-08-14 Commissariat Energie Atomique Procede automatique et autoadaptatif de soudage par fusion et dispositif pour la mise en oeuvre de ce procede
JPS5880192U (ja) * 1981-11-25 1983-05-31 トキコ株式会社 工業用ロボツト
DE3244307A1 (de) * 1982-11-30 1984-05-30 Siemens AG, 1000 Berlin und 8000 München Robotersteuerung
IT1174831B (it) * 1983-11-30 1987-07-01 Armco Spa Macchina elettrosaldatrice automatica
US4675502A (en) * 1985-12-23 1987-06-23 General Electric Company Real time tracking control for taught path robots

Also Published As

Publication number Publication date
EP0266070A3 (en) 1989-08-16
JPH07104692B2 (ja) 1995-11-13
DE3787342T2 (de) 1994-02-24
JPS6388612A (ja) 1988-04-19
EP0266070B1 (de) 1993-09-08
EP0266070A2 (de) 1988-05-04
US4831316A (en) 1989-05-16

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Legal Events

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8364 No opposition during term of opposition
8320 Willingness to grant licences declared (paragraph 23)
8339 Ceased/non-payment of the annual fee