DE60127908D1 - Robotersteuerung - Google Patents

Robotersteuerung

Info

Publication number
DE60127908D1
DE60127908D1 DE60127908T DE60127908T DE60127908D1 DE 60127908 D1 DE60127908 D1 DE 60127908D1 DE 60127908 T DE60127908 T DE 60127908T DE 60127908 T DE60127908 T DE 60127908T DE 60127908 D1 DE60127908 D1 DE 60127908D1
Authority
DE
Germany
Prior art keywords
robot control
robot
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 - Lifetime
Application number
DE60127908T
Other languages
English (en)
Other versions
DE60127908T2 (de
Inventor
Tetsuya Kosaka
Hiromitsu Takahashi
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.)
Fanuc Corp
Original Assignee
Fanuc 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 Fanuc Corp filed Critical Fanuc Corp
Publication of DE60127908D1 publication Critical patent/DE60127908D1/de
Application granted granted Critical
Publication of DE60127908T2 publication Critical patent/DE60127908T2/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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • 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
    • G05B2219/34399—Switch between synchronous and asynchronous mode of controllers
    • 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
    • G05B2219/34402—Synchronize programs for machines, processes, tasks, if one stops other also
    • 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
    • G05B2219/39139—Produce program of slave from path of master and desired relative position
    • 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
    • G05B2219/40221—Individual and common power cutoff switch for several robots
    • 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
    • G05B2219/50195—Emergency stop stops drives and spindle, stored program remains in memory
    • 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
    • G05B2219/50198—Emergency stop
    • 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
    • G05B2219/50224—Synchronize feed and spindle speed during slow down, stopping
DE60127908T 2000-09-04 2001-09-04 Robotersteuerung Expired - Lifetime DE60127908T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2000266859A JP3504222B2 (ja) 2000-09-04 2000-09-04 ロボット制御装置
JP2000266859 2000-09-04

Publications (2)

Publication Number Publication Date
DE60127908D1 true DE60127908D1 (de) 2007-05-31
DE60127908T2 DE60127908T2 (de) 2007-08-02

Family

ID=18753878

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60127908T Expired - Lifetime DE60127908T2 (de) 2000-09-04 2001-09-04 Robotersteuerung

Country Status (4)

Country Link
US (1) US6434448B1 (de)
EP (1) EP1186386B1 (de)
JP (1) JP3504222B2 (de)
DE (1) DE60127908T2 (de)

Families Citing this family (57)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8527094B2 (en) * 1998-11-20 2013-09-03 Intuitive Surgical Operations, Inc. Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US6852107B2 (en) 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration
JP3577028B2 (ja) * 2001-11-07 2004-10-13 川崎重工業株式会社 ロボットの協調制御システム
DE10234233A1 (de) * 2002-07-27 2004-02-05 Kuka Roboter Gmbh Verfahren zum Austausch von Daten zwischen Steuerungen von Maschinen, insbesondere von Robotern
DE10235943A1 (de) * 2002-08-06 2004-02-19 Kuka Roboter Gmbh Verfahren und Vorrichtung zum synchronen Steuern von Handhabungsgeräten
DE10236392A1 (de) * 2002-08-08 2004-02-19 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern von Handhabungsgeräten
JP2004199433A (ja) * 2002-12-19 2004-07-15 Fanuc Ltd 同期制御装置
US7295893B2 (en) * 2003-03-31 2007-11-13 Kabushiki Kaisha Toshiba Manipulator and its control apparatus and method
JP2007523757A (ja) * 2003-06-20 2007-08-23 ファナック ロボティクス アメリカ，インコーポレイティド 複数のロボットアームの追従及び鏡映ジョグ
SE0303384D0 (sv) * 2003-12-15 2003-12-15 Abb Ab Control system, method and computer program
DE602005026653D1 (de) * 2004-06-17 2011-04-14 Abb Ab Steuersystem für einen industrieroboter
SE0402098D0 (sv) * 2004-08-30 2004-08-30 Abb Ab A control system
US8000837B2 (en) 2004-10-05 2011-08-16 J&L Group International, Llc Programmable load forming system, components thereof, and methods of use
JP2006209646A (ja) * 2005-01-31 2006-08-10 Toyota Motor Corp 分散制御システム
JP4382003B2 (ja) 2005-03-23 2009-12-09 川崎重工業株式会社 ロボット制御装置およびロボット制御方法
US7860609B2 (en) 2005-05-06 2010-12-28 Fanuc Robotics America, Inc. Robot multi-arm control system
US7904182B2 (en) * 2005-06-08 2011-03-08 Brooks Automation, Inc. Scalable motion control system
JP2006346756A (ja) * 2005-06-13 2006-12-28 Kuka Roboter Gmbh ロボットを制御する方法およびシステム
EP1951482A2 (de) * 2005-11-16 2008-08-06 Abb Ab Verfahren und vorrichtung zur steuerung der bewegung eines industrieroboters
JP4930824B2 (ja) * 2005-11-16 2012-05-16 株式会社安川電機 ロボット制御装置およびロボットシステム
JP4950522B2 (ja) * 2006-03-08 2012-06-13 花王株式会社 作業追従装置
DE102006022483A1 (de) * 2006-05-13 2007-11-29 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Anzeigen einer Roboterbahn zur Unterstützung einer Ortsänderung eines Stützpunktes
JP2008023628A (ja) * 2006-07-19 2008-02-07 Denso Corp 組立装置
KR100945884B1 (ko) * 2007-11-14 2010-03-05 삼성중공업 주식회사 내장형 로봇 제어 시스템
DE102008021671B4 (de) 2008-04-30 2013-04-11 Kuka Laboratories Gmbh Verfahren und Vorrichtung zur Überwachung eines Manipulators
DE102008061172A1 (de) * 2008-12-09 2010-06-10 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern eines Manipulatorsystems
JP5375297B2 (ja) * 2009-04-16 2013-12-25 株式会社安川電機 ロボットシステム
JP5360237B2 (ja) * 2010-02-03 2013-12-04 パナソニック株式会社 ロボットシステムの制御方法
US8731714B2 (en) * 2010-09-22 2014-05-20 GM Global Technology Operations LLC Concurrent path planning with one or more humanoid robots
JP5618770B2 (ja) * 2010-11-09 2014-11-05 三菱電機株式会社 ロボットの校正装置および校正方法
US10054933B2 (en) * 2012-03-27 2018-08-21 Sirqul, Inc. Controlling distributed device operations
US9517556B2 (en) * 2012-06-29 2016-12-13 Mitsubishi Electric Corporation Robot control apparatus and robot control method
CN105073349B (zh) * 2013-03-19 2017-05-10 松下知识产权经营株式会社 机器人系统的控制方法以及机器人系统
US10052759B2 (en) * 2013-03-29 2018-08-21 Fanuc America Corporation Adaptive control of robotic laser braze/weld operation
JP5970415B2 (ja) 2013-05-16 2016-08-17 株式会社神戸製鋼所 産業用ロボットおよび周辺装置の動作を制御する制御システムおよび制御方法
US9650215B2 (en) * 2013-05-17 2017-05-16 Intelligrated Headquarters Llc Robotic carton unloader
EP2996973B1 (de) 2013-05-17 2019-01-30 Intelligrated Headquarters LLC Robotischer kartonentlader
US10807805B2 (en) 2013-05-17 2020-10-20 Intelligrated Headquarters, Llc Robotic carton unloader
JP5892132B2 (ja) * 2013-09-13 2016-03-23 株式会社安川電機 制御装置及びロボットシステム
JP6258043B2 (ja) * 2014-01-17 2018-01-10 株式会社神戸製鋼所 産業用ロボットを制御する制御システム、制御装置、溶接物製造方法およびプログラム
EP3119343A4 (de) 2014-03-19 2017-12-20 Intuitive Surgical Operations, Inc. Medizinische vorrichtungen, systeme und verfahren mit augenblickverfolgung für stereobetrachter
KR20230142657A (ko) * 2014-03-19 2023-10-11 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 눈 시선 추적을 사용하는 의료 디바이스, 시스템, 및 방법
JP5952330B2 (ja) * 2014-03-27 2016-07-13 ファナック株式会社 加工条件管理機能を有する加工アプリケーションロボットシステム
JP6539989B2 (ja) * 2014-11-14 2019-07-10 株式会社デンソーウェーブ ロボット制御装置
DE102015202017A1 (de) * 2015-02-05 2016-08-11 Kuka Roboter Gmbh Manipulatorsystem zur koordinierten Steuerung von zumindest zwei Manipulatoren
JP2016162205A (ja) * 2015-03-02 2016-09-05 ファナック株式会社 複数系統をグループ化することにより制御を一元管理できる制御装置
EP3342561B1 (de) * 2015-08-25 2022-08-10 Kawasaki Jukogyo Kabushiki Kaisha Ferngesteuertes robotersystem
WO2017202439A1 (en) * 2016-05-23 2017-11-30 Abb Schweiz Ag Dynamic allocation of processing tasks for a robot cell
GB2552019B (en) * 2016-07-08 2020-01-08 Rolls Royce Plc Methods and apparatus for controlling at least one of a first robot and a second robot to collaborate within a system
US10597235B2 (en) 2016-10-20 2020-03-24 Intelligrated Headquarters, Llc Carton unloader tool for jam recovery
DE102016221213B4 (de) * 2016-10-27 2019-07-04 Audi Ag Automatisiertes Instandhaltungssystem
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
US10368955B2 (en) * 2017-03-31 2019-08-06 Johnson & Johnson Innovation-Jjdc, Inc. Multi-functional foot pedal assembly for controlling a robotic surgical system
US10888383B2 (en) 2018-07-17 2021-01-12 Verb Surgical Inc. Robotic surgical pedal with integrated foot sensor
US10503199B1 (en) 2018-07-17 2019-12-10 Verb Surgical Inc. Pedal with sliding and locking mechanisms for surgical robots
CN114683273A (zh) * 2020-12-31 2022-07-01 美的集团(上海)有限公司 机器人停机控制方法、装置、机器人及存储介质
TW202321847A (zh) * 2021-11-01 2023-06-01 美商靈巧公司 控制多個機器人協同執行任務的機器人系統

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4831582A (en) * 1986-11-07 1989-05-16 Allen-Bradley Company, Inc. Database access machine for factory automation network
US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms
DE68924580T2 (de) * 1988-04-19 1996-03-28 Nakamura Tome Precision Ind Cnc-drehmaschine mit zwei gegenüberliegenden hauptspindeln.
US5204942A (en) * 1989-01-10 1993-04-20 Kabushiki Kaisha Kobe Seiko Sho Robot control system for controlling a set of industrial robots for cooperative operation
JP2880590B2 (ja) * 1991-07-24 1999-04-12 株式会社不二越 産業用ロボットの同期制御方法
US5629594A (en) * 1992-12-02 1997-05-13 Cybernet Systems Corporation Force feedback system
US6131097A (en) * 1992-12-02 2000-10-10 Immersion Corporation Haptic authoring
US5485644A (en) * 1993-03-18 1996-01-23 Dainippon Screen Mfg. Co., Ltd. Substrate treating apparatus
JPH07303966A (ja) * 1994-05-11 1995-11-21 Fanuc Ltd ロボット制御装置
JP3406080B2 (ja) * 1994-08-24 2003-05-12 ファナック株式会社 溶接ロボットシステムにおける溶接装置の割当使用方法
JPH08300280A (ja) * 1995-05-09 1996-11-19 Fanuc Ltd ロボットの動作制御方式
WO1997002114A1 (fr) * 1995-07-05 1997-01-23 Fanuc Ltd Appareil et procede de commande du mouvement d'un robot
US5784542A (en) * 1995-09-07 1998-07-21 California Institute Of Technology Decoupled six degree-of-freedom teleoperated robot system
JPH09244730A (ja) * 1996-03-11 1997-09-19 Komatsu Ltd ロボットシステムおよびロボットの制御装置
DE60035651T2 (de) * 1999-09-16 2008-05-21 Fanuc Ltd. Steuerungssystem zum synchronen kooperativen Betreiben einer Mehrzahl von Robotern

Also Published As

Publication number Publication date
EP1186386A3 (de) 2005-08-24
US20020029095A1 (en) 2002-03-07
US6434448B1 (en) 2002-08-13
EP1186386B1 (de) 2007-04-18
JP3504222B2 (ja) 2004-03-08
JP2002073127A (ja) 2002-03-12
DE60127908T2 (de) 2007-08-02
EP1186386A2 (de) 2002-03-13

Similar Documents

Publication Publication Date Title
DE60127908D1 (de) Robotersteuerung
DE60142842D1 (de) Robotersteuergerät
DE60110673D1 (de) Servosteuerung
DE60117286D1 (de) Prozesssteuerung
DE69925204D1 (de) Robotersteuerung
DE60135586D1 (de) Positionerungs-Servosteuerung
DE60041176D1 (de) Robotersteuerung
DE60223713D1 (de) Leistungsverstärkerregelung
DE10085353T1 (de) Servosteuervorrichtung
DE60008493D1 (de) Servoregelungsgerät
DE69933849D1 (de) Manipulatorsteuerung
DE50102680D1 (de) Steuereinrichtung
NO20021472L (no) Intelligent brönn-sandkontroll
DE50013129D1 (de) Regelventil
NO20025340L (no) Aktuatoranordning
NO20025341D0 (no) Aktuatoranordning
DE10196103T1 (de) Robotersteuereinrichtung
DE60140375D1 (de) Zweibeiniger roboter
DE60142847D1 (de) Zweifüssiger roboter
DE60111004D1 (de) Stellantrieb
DE10192991T1 (de) Roboter
DE60034981D1 (de) Manipulatorsteuerung
FI20000558A0 (fi) Kaukosäädin
DE10085450T1 (de) Dynamisch-symmetrischer Betätiger
DE60129179D1 (de) Betätigungseinrichtung

Legal Events

Date Code Title Description
8364 No opposition during term of opposition