DE3889981T2 - Roboterregelanordnung. - Google Patents
Roboterregelanordnung.Info
- Publication number
- DE3889981T2 DE3889981T2 DE3889981T DE3889981T DE3889981T2 DE 3889981 T2 DE3889981 T2 DE 3889981T2 DE 3889981 T DE3889981 T DE 3889981T DE 3889981 T DE3889981 T DE 3889981T DE 3889981 T2 DE3889981 T2 DE 3889981T2
- Authority
- DE
- Germany
- Prior art keywords
- control arrangement
- robotic control
- robotic
- arrangement
- 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
- G05B19/19—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40006—Placing, palletize, un palletize, paper roll placing, box stacking
-
- 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
- G05B2219/50109—Soft approach, engage, retract, escape, withdraw path for tool to workpiece
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62001529A JPS63169279A (ja) | 1987-01-07 | 1987-01-07 | ロボツト制御装置 |
PCT/JP1988/000010 WO1988005186A1 (en) | 1987-01-07 | 1988-01-07 | Robot controller |
Publications (2)
Publication Number | Publication Date |
---|---|
DE3889981D1 DE3889981D1 (de) | 1994-07-14 |
DE3889981T2 true DE3889981T2 (de) | 1994-10-06 |
Family
ID=11504044
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE3889981T Expired - Fee Related DE3889981T2 (de) | 1987-01-07 | 1988-01-07 | Roboterregelanordnung. |
Country Status (5)
Country | Link |
---|---|
US (1) | US4969109A (de) |
EP (1) | EP0298128B1 (de) |
JP (1) | JPS63169279A (de) |
DE (1) | DE3889981T2 (de) |
WO (1) | WO1988005186A1 (de) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2521338B2 (ja) * | 1988-10-07 | 1996-08-07 | ファナック株式会社 | パレタイジング/デパレタイジング制御方法 |
US5211528A (en) * | 1989-08-31 | 1993-05-18 | Mitsubishi Denki Kabushiki Kaisha | Industrial robot apparatus |
US5485552A (en) * | 1990-12-18 | 1996-01-16 | Fanuc Ltd. | Method of creating a robot motion program |
JPH04217009A (ja) * | 1990-12-18 | 1992-08-07 | Fanuc Ltd | 動作プログラムの教示方法 |
JPH05127718A (ja) * | 1991-11-08 | 1993-05-25 | Fujitsu Ltd | マニピユレータの手先軌道自動生成装置 |
JP3529158B2 (ja) * | 1994-05-18 | 2004-05-24 | ファナック株式会社 | ロボット動作プログラミング方法及びプログラミング装置 |
US5908283A (en) | 1996-11-26 | 1999-06-01 | United Parcel Service Of Americia, Inc. | Method and apparatus for palletizing packages of random size and weight |
US6401007B1 (en) | 1999-04-16 | 2002-06-04 | Kalish Canada Inc. | Gage element for performing automatic setting of a machine for manipulating articles, such as a palletization machine |
US6718229B1 (en) | 2000-11-03 | 2004-04-06 | Smc Kabushiki Kaisha | Linear actuator palletizing system and method |
JP4302160B2 (ja) * | 2007-09-12 | 2009-07-22 | ファナック株式会社 | ロボットによるパレタイジング作業のためのロボットプログラミング装置 |
CN103809590B (zh) | 2012-11-08 | 2016-08-24 | 沈阳新松机器人自动化股份有限公司 | 一种搬运装置行走位置控制系统 |
CN103552072B (zh) * | 2013-10-21 | 2016-08-17 | 深圳先进技术研究院 | 一种基于嵌入式控制器的机器人控制方法和装置 |
US9363937B2 (en) * | 2014-06-12 | 2016-06-14 | Firefly Automatix, Inc. | Removing sod from a stacking conveyor |
US11498173B2 (en) * | 2017-07-25 | 2022-11-15 | Ima Schelling Deutschland Gmbh | Wood-processing system and wood-processing method |
CN112077847B (zh) * | 2020-09-08 | 2022-02-22 | 西华大学 | 受非匹配干扰机器人的位置跟踪控制方法 |
CN114919957B (zh) * | 2022-05-30 | 2024-03-15 | 西门子(中国)有限公司 | 码垛机的控制方法及码垛机 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS49119085A (de) * | 1973-03-20 | 1974-11-14 | ||
US4011437A (en) * | 1975-09-12 | 1977-03-08 | Cincinnati Milacron, Inc. | Method and apparatus for compensating for unprogrammed changes in relative position between a machine and workpiece |
JPS54118057A (en) * | 1978-03-03 | 1979-09-13 | Komatsu Ltd | Controller of industrial robot |
SE443531B (sv) * | 1978-11-27 | 1986-03-03 | Asea Ab | Industrirobotutrustning |
JPS56164405A (en) * | 1980-05-21 | 1981-12-17 | Mitsubishi Electric Corp | Conversation type numerical control method |
US4445184A (en) * | 1980-07-19 | 1984-04-24 | Shin Meiwa Industry Co., Ltd. | Articulated robot |
JPS57113115A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
US4433382A (en) * | 1981-07-20 | 1984-02-21 | Cincinnati Milacron Inc. | Apparatus for automatically adjusting the programmed location of a robot arm |
JPS58202221A (ja) * | 1982-05-17 | 1983-11-25 | Komatsu Ltd | プレス成形品の自動積込み装置 |
CA1184273A (en) * | 1982-09-23 | 1985-03-19 | Kazuyoshi Yasukawa | Robot control apparatus |
US4540325A (en) * | 1983-04-18 | 1985-09-10 | Heisler Raymond A | Upstacker apparatus with biased gripping means |
JPH062528B2 (ja) * | 1984-07-19 | 1994-01-12 | 株式会社日立製作所 | 貨物の自動積付システム |
US4641271A (en) * | 1983-11-09 | 1987-02-03 | Hitachi, Ltd. | Piling planning method and piling system of cargoes by palletizing robot |
JPS6133424A (ja) * | 1984-07-20 | 1986-02-17 | Hitachi Ltd | 貨物の積付作業制御装置 |
-
1987
- 1987-01-07 JP JP62001529A patent/JPS63169279A/ja active Pending
-
1988
- 1988-01-07 EP EP88900789A patent/EP0298128B1/de not_active Expired - Lifetime
- 1988-01-07 DE DE3889981T patent/DE3889981T2/de not_active Expired - Fee Related
- 1988-01-07 US US07/243,339 patent/US4969109A/en not_active Expired - Lifetime
- 1988-01-07 WO PCT/JP1988/000010 patent/WO1988005186A1/ja active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
EP0298128A4 (en) | 1990-09-05 |
WO1988005186A1 (en) | 1988-07-14 |
DE3889981D1 (de) | 1994-07-14 |
JPS63169279A (ja) | 1988-07-13 |
EP0298128B1 (de) | 1994-06-08 |
EP0298128A1 (de) | 1989-01-11 |
US4969109A (en) | 1990-11-06 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition | ||
8320 | Willingness to grant licences declared (paragraph 23) | ||
8339 | Ceased/non-payment of the annual fee |