DE3865907D1 - Verfahren und geraet zum bewegen eines werkzeuges entlang einer gekruemmten bahn. - Google Patents

Verfahren und geraet zum bewegen eines werkzeuges entlang einer gekruemmten bahn.

Info

Publication number
DE3865907D1
DE3865907D1 DE8888111040T DE3865907T DE3865907D1 DE 3865907 D1 DE3865907 D1 DE 3865907D1 DE 8888111040 T DE8888111040 T DE 8888111040T DE 3865907 T DE3865907 T DE 3865907T DE 3865907 D1 DE3865907 D1 DE 3865907D1
Authority
DE
Germany
Prior art keywords
moving
curved path
tool along
tool
along
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
DE8888111040T
Other languages
English (en)
Inventor
Ronald Lee Tarvin
Joseph William Schnelle
Gregory Webb
James Vaughn Brown
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.)
Milacron Inc
Original Assignee
Milacron Inc
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 Milacron Inc filed Critical Milacron Inc
Application granted granted Critical
Publication of DE3865907D1 publication Critical patent/DE3865907D1/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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45104—Lasrobot, welding robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Theoretical 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)
DE8888111040T 1987-07-17 1988-07-11 Verfahren und geraet zum bewegen eines werkzeuges entlang einer gekruemmten bahn. Expired - Lifetime DE3865907D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US07/074,815 US4835710A (en) 1987-07-17 1987-07-17 Method of moving and orienting a tool along a curved path

Publications (1)

Publication Number Publication Date
DE3865907D1 true DE3865907D1 (de) 1991-12-05

Family

ID=22121848

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8888111040T Expired - Lifetime DE3865907D1 (de) 1987-07-17 1988-07-11 Verfahren und geraet zum bewegen eines werkzeuges entlang einer gekruemmten bahn.

Country Status (5)

Country Link
US (1) US4835710A (de)
EP (1) EP0299403B1 (de)
JP (1) JPS6448109A (de)
CA (1) CA1329425C (de)
DE (1) DE3865907D1 (de)

Families Citing this family (90)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6435605A (en) * 1987-07-30 1989-02-06 Fanuc Ltd Numerical controller
JPH08384B2 (ja) * 1987-09-16 1996-01-10 ファナック株式会社 ツール先端点の自動設定方式
US5251127A (en) * 1988-02-01 1993-10-05 Faro Medical Technologies Inc. Computer-aided surgery apparatus
EP0326768A3 (de) * 1988-02-01 1991-01-23 Faro Medical Technologies Inc. Computerunterstütze chirurgische Vorrichtung
US5062755A (en) * 1988-02-23 1991-11-05 Macmillan Bloedel Limited Articulated arm control
JP3207409B2 (ja) * 1988-03-10 2001-09-10 ファナック株式会社 ロボットのツール姿勢制御方法
US5276777A (en) * 1988-04-27 1994-01-04 Fanuc Ltd. Locus correcting method for industrial robots
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
US4972347A (en) * 1988-10-11 1990-11-20 Cincinnati Milacron Inc. Method and apparatus for determining the correct tool dimensions for a three dimensional tool mounted on a manipulator
JPH02161503A (ja) * 1988-12-14 1990-06-21 Mitsubishi Heavy Ind Ltd ロボットにおける教示位置データの修正・再生方法
US4977494A (en) * 1989-02-17 1990-12-11 Hughes Aircraft Company High speed digital motion controller architecture
ES2080051T3 (es) * 1989-02-28 1996-02-01 Siemens Ag Procedimiento de control en una maquina herramienta numerica o un robot.
DE69033605T2 (de) * 1989-05-17 2001-08-16 Fujitsu Ltd Profilsteuerungssystem für Roboter
US5053976A (en) * 1989-05-22 1991-10-01 Honda Giken Kogyo Kabushiki Kaisha Method of teaching a robot
GB2232504B (en) * 1989-05-23 1993-09-29 Honda Motor Co Ltd Method of teaching a robot
US5079491A (en) * 1989-05-23 1992-01-07 Honda Giken Kogyo Kabushiki Kaisha Robot control system
JPH0324606A (ja) * 1989-06-22 1991-02-01 Yutaka Kanayama 移動ロボットの経路指定方法
JPH0769738B2 (ja) * 1989-09-01 1995-07-31 株式会社不二越 ロボットの制御方法及び装置
US5243690A (en) * 1989-11-14 1993-09-07 General Electric Company Robot targeting using transit time control
US5229698A (en) * 1990-08-06 1993-07-20 Cincinnati Milacron Inc. Method and apparatus for sub-span interpolation
US5179514A (en) * 1990-08-08 1993-01-12 The Research Foundation Of State University Of New York Method and apparatus for trajectory control of robot manipulators or the like
US6347240B1 (en) 1990-10-19 2002-02-12 St. Louis University System and method for use in displaying images of a body part
WO1992006645A1 (en) * 1990-10-19 1992-04-30 St. Louis University Surgical probe locating system for head use
US5662111A (en) * 1991-01-28 1997-09-02 Cosman; Eric R. Process of stereotactic optical navigation
US6405072B1 (en) 1991-01-28 2002-06-11 Sherwood Services Ag Apparatus and method for determining a location of an anatomical target with reference to a medical apparatus
US6167295A (en) * 1991-01-28 2000-12-26 Radionics, Inc. Optical and computer graphic stereotactic localizer
US6675040B1 (en) 1991-01-28 2004-01-06 Sherwood Services Ag Optical object tracking system
US6006126A (en) * 1991-01-28 1999-12-21 Cosman; Eric R. System and method for stereotactic registration of image scan data
US5396160A (en) * 1991-03-11 1995-03-07 General Motors Corporation Method of real-time machine path planning from a math model
US5297238A (en) * 1991-08-30 1994-03-22 Cimetrix Incorporated Robot end-effector terminal control frame (TCF) calibration method and device
US5430643A (en) * 1992-03-11 1995-07-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Configuration control of seven degree of freedom arms
US5377310A (en) * 1992-04-03 1994-12-27 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Controlling under-actuated robot arms using a high speed dynamics
US5546508A (en) * 1992-04-03 1996-08-13 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Controlling flexible robot arms using high speed dynamics process
US5603318A (en) * 1992-04-21 1997-02-18 University Of Utah Research Foundation Apparatus and method for photogrammetric surgical localization
DE69314688T2 (de) * 1992-04-23 1998-02-19 Heidenhain Gmbh Dr Johannes Numerische Steuerungseinrichtung und Verfahren zur Steuerung der Bewegung eines Werkzeuges
US5340962A (en) * 1992-08-14 1994-08-23 Lumonics Corporation Automatic control of laser beam tool positioning
US5438522A (en) * 1992-12-18 1995-08-01 Cincinnati Milacron Inc. Method and apparatus for sub-span interpolation
WO1996011624A2 (en) 1994-10-07 1996-04-25 St. Louis University Surgical navigation systems including reference and localization frames
EP0699050B1 (de) 1993-04-26 2004-03-03 St. Louis University Anzeige der lage einer sonde
FR2706345B1 (fr) * 1993-06-11 1995-09-22 Bertin & Cie Procédé et dispositif de repérage dans l'espace d'un objet mobile tel qu'un capteur ou un outil porté par un robot.
JP3665353B2 (ja) * 1993-09-14 2005-06-29 ファナック株式会社 ロボットの教示位置データの３次元位置補正量取得方法及びロボットシステム
US6978166B2 (en) * 1994-10-07 2005-12-20 Saint Louis University System for use in displaying images of a body part
GB9517214D0 (en) * 1995-08-23 1995-10-25 Renishaw Plc Calibration of an articulating probe head for a coordinating positioning machine
US6167145A (en) * 1996-03-29 2000-12-26 Surgical Navigation Technologies, Inc. Bone navigation system
US6296613B1 (en) 1997-08-22 2001-10-02 Synthes (U.S.A.) 3D ultrasound recording device
US5886494A (en) * 1997-02-06 1999-03-23 Camelot Systems, Inc. Positioning system
US5903125A (en) * 1997-02-06 1999-05-11 Speedline Technologies, Inc. Positioning system
JP3269003B2 (ja) * 1997-05-12 2002-03-25 川崎重工業株式会社 ロボット制御装置
US6025686A (en) * 1997-07-23 2000-02-15 Harnischfeger Corporation Method and system for controlling movement of a digging dipper
US6434507B1 (en) 1997-09-05 2002-08-13 Surgical Navigation Technologies, Inc. Medical instrument and method for use with computer-assisted image guided surgery
US6206964B1 (en) 1997-11-10 2001-03-27 Speedline Technologies, Inc. Multiple head dispensing system and method
US6007631A (en) 1997-11-10 1999-12-28 Speedline Technologies, Inc. Multiple head dispensing system and method
US6214117B1 (en) 1998-03-02 2001-04-10 Speedline Technologies, Inc. Dispensing system and method
US6064168A (en) * 1998-03-13 2000-05-16 Fanuc Robotics North America, Inc. Method of controlling robot movement
EP1089669B1 (de) 1998-06-22 2008-03-19 AO Technology AG Fiducial matching mittels fiducial-schraube
US6242880B1 (en) 1998-09-08 2001-06-05 Cimplus, Inc. Tolerance based motion control system
US5959425A (en) * 1998-10-15 1999-09-28 Fanuc Robotics North America, Inc. Vision guided automatic robotic path teaching method
CA2367271C (en) 1999-03-17 2008-12-16 Synthes (U.S.A.) System and method for ligament graft placement
EP1171780A1 (de) 1999-04-20 2002-01-16 Synthes Ag Chur Vorrichtung zur perkutanen bestimmung von koordinaten auf der oberfläche eines menschliches oder tierischen organs
EP1175592B1 (de) * 1999-05-03 2003-06-11 SYNTHES AG Chur Positionserfassungsvorrichtung mit hilfsmitteln zur ermittlung der richtung des schwerkraftvektors
US6356807B1 (en) 1999-08-13 2002-03-12 Fanuc Robotics North America, Inc. Method of determining contact positions, calibration parameters, and reference frames for robot assemblies
US6674533B2 (en) 2000-12-21 2004-01-06 Joseph K. Price Anodizing system with a coating thickness monitor and an anodized product
US7365860B2 (en) * 2000-12-21 2008-04-29 Sensory Analytics System capable of determining applied and anodized coating thickness of a coated-anodized product
US7274463B2 (en) * 2003-12-30 2007-09-25 Sensory Analytics Anodizing system with a coating thickness monitor and an anodized product
US6688458B2 (en) * 2001-10-09 2004-02-10 Speedline Technologies, Inc. System and method for controlling a conveyor system configuration to accommodate different size substrates
GB0207431D0 (en) * 2002-03-28 2002-05-08 Qinetiq Ltd Signal analysis system
JP4922584B2 (ja) * 2004-12-10 2012-04-25 株式会社安川電機 ロボットシステム
JP4827407B2 (ja) * 2004-12-20 2011-11-30 ユニチカ株式会社 ダイレクトラミネート適性に優れた有機溶剤系塗料
US7450127B2 (en) * 2005-03-23 2008-11-11 Hurco Companies Inc. Method of tolerance-based trajectory planning
US7097540B1 (en) 2005-05-26 2006-08-29 General Electric Company Methods and apparatus for machining formed parts to obtain a desired profile
ES2665428T3 (es) * 2006-03-07 2018-04-25 Sensory Analytics Aparato móvil capaz de medidas superficiales del espesor de un revestimiento
KR101220121B1 (ko) * 2006-06-30 2013-01-11 스타 마이크로닉스 컴퍼니 리미티드 이동체의 이동 제어 장치, 이동체의 이동 제어 방법 및공작 기계의 이동 제어 장치
US7933677B2 (en) * 2006-08-04 2011-04-26 Hurco Companies, Inc. System and method for surface finish management
US8725283B2 (en) * 2006-08-04 2014-05-13 Hurco Companies, Inc. Generalized kinematics system
CN101501589B (zh) * 2006-08-04 2011-11-23 赫克公司 用于工具使用管理的系统和方法
US8024068B2 (en) * 2006-08-04 2011-09-20 Hurco Companies, Inc. Machine tool control system
EP2124711A4 (de) * 2007-03-16 2011-03-30 Univ Nanyang Tech Verfahren und gerät zur anorektalen untersuchung
EP2014413A1 (de) * 2007-07-12 2009-01-14 Lufthansa Technik AG Anordnung, Verfahren und Vorrichtung zur Instandhaltung von Gasturbinenschaufeln
JP5028219B2 (ja) * 2007-10-30 2012-09-19 オリンパスメディカルシステムズ株式会社 マニピュレータ装置および医療機器システム
DE102008027485B4 (de) * 2008-06-09 2010-02-11 Gsi Helmholtzzentrum Für Schwerionenforschung Gmbh Deposition einer Solldosisverteilung in einem zyklisch bewegten Zielgebiet
JP5282014B2 (ja) * 2009-11-18 2013-09-04 本田技研工業株式会社 教示ライン補正装置、教示ライン補正方法、及びそのプログラム
KR101876380B1 (ko) * 2011-07-06 2018-07-11 삼성전자주식회사 매니퓰레이터 및 그 경로 생성 방법
US20130119032A1 (en) * 2011-11-11 2013-05-16 Lincoln Global, Inc. System and method for welding materials of different conductivity
US9144860B2 (en) * 2012-03-29 2015-09-29 Fanuc Robotics America Corporation Robotic weld gun orientation normalization
CN103192647A (zh) * 2013-04-23 2013-07-10 青岛速霸数控设备有限公司 一种多轴雕刻机
CN104252153A (zh) * 2013-06-28 2014-12-31 鸿富锦精密工业（深圳）有限公司 Cnc加工程序生成系统及方法
US10105849B1 (en) * 2015-07-14 2018-10-23 Glen C Wernersbach Manufacturing system having robotic apparatus
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
US11897141B2 (en) * 2018-11-19 2024-02-13 Palletec, Llc Automated fastening system
US20230226682A1 (en) * 2022-01-18 2023-07-20 James Walter Beard, III Method for Teaching Torch Orientation for Robotic Welding

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3909600A (en) * 1972-06-26 1975-09-30 Cincinnati Milacron Inc Method and apparatus for controlling an automation along a predetermined path
US3920972A (en) * 1974-07-16 1975-11-18 Cincinnati Milacron Inc Method and apparatus for programming a computer operated robot arm
JPS584377A (ja) * 1981-03-18 1983-01-11 株式会社安川電機 関節形産業用ロボツトの制御装置
JPH065486B2 (ja) * 1981-03-26 1994-01-19 株式会社安川電機 ロボットの軌跡制御方法
JPS5822410A (ja) * 1981-07-31 1983-02-09 Fanuc Ltd 数値制御方式
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
US4506335A (en) * 1982-06-10 1985-03-19 Cincinnati Milacron Inc. Manipulator with controlled path motion
JPS59194213A (ja) * 1983-04-19 1984-11-05 Amada Co Ltd 板材折曲げ加工装置
JPS59218513A (ja) * 1983-05-26 1984-12-08 Fanuc Ltd 工業用ロボツトの円弧制御法
US4621332A (en) * 1983-06-20 1986-11-04 Hitachi, Ltd. Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient
US4598380A (en) * 1984-08-13 1986-07-01 Cincinnati Milacron Inc. Method and apparatus for controlling manipulator and workpiece positioner
JPS61114317A (ja) * 1984-11-08 1986-06-02 Matsushita Electric Ind Co Ltd 産業用ロボツトの教示方法

Also Published As

Publication number Publication date
EP0299403A1 (de) 1989-01-18
US4835710A (en) 1989-05-30
JPS6448109A (en) 1989-02-22
CA1329425C (en) 1994-05-10
EP0299403B1 (de) 1991-10-30

Similar Documents

Publication Publication Date Title
DE3865907D1 (de) Verfahren und geraet zum bewegen eines werkzeuges entlang einer gekruemmten bahn.
DE3771980D1 (de) Verfahren und vorrichtung zum beschichten einer bahn.
DE3650413D1 (de) Verfahren und Vorrichtung zur Annulierung eines Befehls.
DE58906609D1 (de) Verfahren und Vorrichtung zum Reinigen einer Sprühvorrichtung.
DE3873411D1 (de) Verfahren und geraet zum steuern eines robotersystems.
DE69104994D1 (de) Apparatus und verfahren zum schneiden einer bahn.
DE3871721D1 (de) Vorrichtung und verfahren zum nachweisen einer partiellen okklusion.
DE3587817D1 (de) Vorrichtung zum Bewegen eines Teils entlang einer geschlossenen Kurve.
DE3881946D1 (de) Verfahren und vorrichtung zum perforieren eines bohrloches.
ATA122988A (de) Verfahren und vorrichtung zum aufrollen und wickeln einer bahn
DE3786753D1 (de) Verfahren und vorrichtung zum vorbeugen eines zusammenstosses von werkzeugen.
DE3781387D1 (de) Verfahren und vorrichtung zum spannen eines steigrohres.
DE58903199D1 (de) Verfahren und vorrichtung zum betrieb einer loetstation.
DE3587412D1 (de) Faserendstueck, sowie verfahren und vorrichtung zum anbringen eines faserendstueckes.
DE3775462D1 (de) Verfahren und einrichtung zum befestigen und loesen eines trommelartigen elementes.
DE3680418D1 (de) Verfahren und vorrichtung zum sandstrahlen eines werkstueckes.
DE3764124D1 (de) Verfahren und einrichtung zum umspulen eines fadens.
DE3862789D1 (de) Verfahren zum abtrennen eines eingetragenen schussfadens und trennvorrichtung.
DE69016763D1 (de) Verfahren und Vorrichtung zum Herstellen einer gürtelartigen Bahn.
DE68918691D1 (de) Verfahren und Vorrichtung zum Ausrichten eines bandförmigen Elementes.
DE3881441D1 (de) Verfahren und vorrichtung zum biegen eines bleches.
DE68923453D1 (de) Vorrichtung und verfahren zum trocken eines bandes.
DE69208378D1 (de) Vorrichtung und Verfahren zum Beleimen einer Bahn
DE68916482D1 (de) Verfahren und Vorrichtung zum Zentrieren eines Edelsteines.
DE3578113D1 (de) Verfahren und vorrichtung zum abschneiden einer reissverschlusskette.

Legal Events

Date Code Title Description
8364 No opposition during term of opposition