DE60044682D1 - Verfahren und gerät zur steuerung und positionierung eines roboters - Google Patents

Verfahren und gerät zur steuerung und positionierung eines roboters

Info

Publication number
DE60044682D1
DE60044682D1 DE60044682T DE60044682T DE60044682D1 DE 60044682 D1 DE60044682 D1 DE 60044682D1 DE 60044682 T DE60044682 T DE 60044682T DE 60044682 T DE60044682 T DE 60044682T DE 60044682 D1 DE60044682 D1 DE 60044682D1
Authority
DE
Germany
Prior art keywords
robot
positioning
controlling
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
DE60044682T
Other languages
English (en)
Inventor
Seiichi Matsuo
Youichi Tanaka
Takahiro Kurokawa
Seishiro Yanachi
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.)
Panasonic Corp
Original Assignee
Panasonic 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 Panasonic Corp filed Critical Panasonic Corp
Application granted granted Critical
Publication of DE60044682D1 publication Critical patent/DE60044682D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • 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
    • 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
    • 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
    • G05B2219/39357—Execute motion of path in minimum of time
    • 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
    • G05B2219/40466—Plan for minimum time trajectory, at least one joint maximum torque

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position Or Direction (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
DE60044682T 1999-12-16 2000-12-14 Verfahren und gerät zur steuerung und positionierung eines roboters Expired - Lifetime DE60044682D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP35673799 1999-12-16
PCT/JP2000/008884 WO2001043924A1 (en) 1999-12-16 2000-12-14 Controlling method and apparatus for positioning a robot

Publications (1)

Publication Number Publication Date
DE60044682D1 true DE60044682D1 (de) 2010-08-26

Family

ID=18450529

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60044682T Expired - Lifetime DE60044682D1 (de) 1999-12-16 2000-12-14 Verfahren und gerät zur steuerung und positionierung eines roboters

Country Status (5)

Country Link
US (1) US6615110B2 (de)
EP (1) EP1250218B1 (de)
JP (1) JP4390415B2 (de)
DE (1) DE60044682D1 (de)
WO (1) WO2001043924A1 (de)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040185830A1 (en) * 1996-08-08 2004-09-23 Joao Raymond Anthony Apparatus and method for providing account security
US7433144B2 (en) * 1999-03-04 2008-10-07 Convolve, Inc. Dynamic system control method
JP3778424B2 (ja) * 2001-09-06 2006-05-24 ソニー株式会社 位置決め装置及び位置決め方法
GB2386970A (en) * 2002-03-26 2003-10-01 Mcmurtry Ltd Environmentally responsive ground maintenance equipment
US6911792B2 (en) * 2003-05-20 2005-06-28 Hewlett-Packard Development Company, L.P. System and method for controlling movement
AT502286B1 (de) * 2004-09-15 2008-09-15 Wfl Millturn Tech Gmbh & Co Kg Verfahren zur kollisionsvermeidung
JP4541218B2 (ja) * 2005-04-08 2010-09-08 三菱電機株式会社 指令生成装置
US8295983B2 (en) * 2008-11-10 2012-10-23 Silent Printer Holdings, Llc Apparatus and method for characterization and control of usage disturbances in a usage environment of printers and other dynamic systems
JP2012232370A (ja) * 2011-04-28 2012-11-29 Seiko Epson Corp ロボットコントローラー、簡易設置型ロボット、及び簡易設置型ロボットの制御方法
JP5857781B2 (ja) * 2012-02-15 2016-02-10 日産自動車株式会社 電動モータを用いた車両の制振制御装置
US8532861B1 (en) * 2012-06-02 2013-09-10 Fukashi Andoh Protective apparatus for electronic unit on unmanned space exploration vehicle
US8711511B2 (en) * 2012-06-19 2014-04-29 International Business Machines Corporation Vibration disturbance estimation and control
US10864629B2 (en) * 2013-03-15 2020-12-15 Corindus, Inc. System and method for controlling a position of an articulated robotic arm
JP2014233774A (ja) * 2013-05-31 2014-12-15 株式会社荏原製作所 ロボットアーム制御装置、基板搬送装置、基板処理装置、ロボットアーム制御方法およびプログラム
US9718187B2 (en) * 2014-06-11 2017-08-01 Canon Kabushiki Kaisha Robot controlling method, robot apparatus, program, recording medium, and method for manufacturing assembly component
JP6472813B2 (ja) * 2014-10-10 2019-02-20 株式会社Ｆｕｊｉ 搬送方法および搬送装置
JP6512790B2 (ja) * 2014-10-24 2019-05-15 キヤノン株式会社 ロボット制御方法、ロボット装置、プログラム、記録媒体及び物品の製造方法
WO2016170829A1 (ja) * 2015-04-23 2016-10-27 三菱電機株式会社 位置決め制御装置
JP7186571B2 (ja) 2018-10-10 2022-12-09 日本電産サンキョー株式会社 ロボットの動作完了時刻の判定装置及び判定方法
JP6983206B2 (ja) * 2019-10-15 2021-12-17 株式会社アルバック 基板搬送装置、および、基板搬送方法
CN114932560B (zh) * 2022-07-25 2022-11-22 山东贞元汽车车轮有限公司 一种机械臂抓取轮毂的自动控制方法和系统

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS592108A (ja) 1982-06-29 1984-01-07 Kobe Steel Ltd ロボツト加速時における振動防止法
JP2918269B2 (ja) 1990-02-01 1999-07-12 松下電器産業株式会社 ロボットの移動制御方法
FR2670705B1 (fr) * 1990-12-21 1993-04-09 Bertin & Cie Procede et commande d'un systeme mecanique flexible motorise a configuration variable, tel qu'un bras robot par exemple.
WO1993022107A1 (en) 1992-04-23 1993-11-11 Kabushiki Kaisha Komatsu Seisakusho Method of controlling industrial robot
US5331264A (en) 1993-04-15 1994-07-19 Fanuc Robotics North America, Inc. Method and device for generating an input command for a motion control system
US5594309A (en) * 1994-06-15 1997-01-14 Iowa State University Research Foundation, Inc. Robot control scheme
EP0695606A1 (de) 1994-07-25 1996-02-07 Consorzio per la Ricerca sulla Microelettronica nel Mezzogiorno - CoRiMMe Fuzzy-Steuerungs-Prozess- und Einrichtung zur Positionierung und raschen Dämpfung mechanischer Schwingungen
US6002232A (en) * 1997-08-15 1999-12-14 Iowa State University Research Foundation, Inc. Robust vibration suppression methods and systems
US6505085B1 (en) * 1999-03-04 2003-01-07 Massachusetts Institute Of Technology Method and apparatus for creating time-optimal commands for linear systems

Also Published As

Publication number Publication date
US6615110B2 (en) 2003-09-02
EP1250218B1 (de) 2010-07-14
JP2003517167A (ja) 2003-05-20
WO2001043924A1 (en) 2001-06-21
EP1250218A1 (de) 2002-10-23
JP4390415B2 (ja) 2009-12-24
US20030083783A1 (en) 2003-05-01

Similar Documents

Publication Publication Date Title
DE60044682D1 (de) Verfahren und gerät zur steuerung und positionierung eines roboters
DE60121963D1 (de) Verfahren und Einrichtung zur Steuerung eines Fahrzeuges
DE10141923B8 (de) Antriebssystem und Verfahren zur Steuerung eines Antriebssystems
DE60009639D1 (de) Steuereinrichtung eines Umrichters und Verfahren zur Steuerung eines Umrichters
DE69739563D1 (de) Verfahren und einrichtung zur steuerung eines kommionen
DE60126397D1 (de) Vorrichtung und Verfahren zur Steuerung eines Neigungsservos
DE50003196D1 (de) Verfahren und vorrichtung zur ansteuerung eines piezoelektrischen aktors
DE50107580D1 (de) Verfahren und vorrichtung zur steuerung einer antriebseinheit
DE50206903D1 (de) Verfahren und vorrichtung zur ansteuerung eines piezoaktors
DE50203348D1 (de) Verfahren zur steuerung eines hörgerätes
DE50015915D1 (de) Verfahren und Vorrichtung zum Steuern eines Roboters
DE60123365D1 (de) Vorrichtung und Verfahren zur Steuerung eines Neigungsservos
DE60140922D1 (de) Verfahren und Einrichtung zur Steuerung einer Anzeige
DE60006619D1 (de) Verfahren und Vorrichtung zur Steuerung einer Hochdrückpumpe
DE60138570D1 (de) Verfahren und vorrichtung zur steuerung einer anzeigeeinrichtung
DE60102102D1 (de) Vorrichtung und Verfahren zur Steuerung eines Ventiltriebes
DE60014278D1 (de) Vorrichtung und Verfahren zur Steuerung eines Linearmotor- Türbetätigers
DE69837741D1 (de) Verfahren und system zur steuerung eines roboters
DE60225102D1 (de) Einrichtung und Verfahren zum Steuern eines Antriebsstrangsystemes
DE60134188D1 (de) Gerät zur Steuerung eines Roboters
DE50107427D1 (de) Verfahren und vorrichtung zur steuerung der antriebseinheit eines fahrzeugs
DE50010991D1 (de) Vorrichtung und verfahren zur steuerung einer antriebseinheit
DE69813309D1 (de) Vorrichtung und verfahren zur steuerung eines mehrarmigen polierwerkzeuges
DE60236987D1 (de) Verfahren und Vorrichtung zur Steuerung eines Synchronmotors
DE60125458D1 (de) Vorrichtung und Verfahren zur Steuerung der Antriebsleistung eines Fahrzeugs