DE602004019345D1 - Verfahren und einrichtung zur steuerung von verschiebungen des beweglichen teils eines mehrachsenroboters - Google Patents
Verfahren und einrichtung zur steuerung von verschiebungen des beweglichen teils eines mehrachsenrobotersInfo
- Publication number
- DE602004019345D1 DE602004019345D1 DE602004019345T DE602004019345T DE602004019345D1 DE 602004019345 D1 DE602004019345 D1 DE 602004019345D1 DE 602004019345 T DE602004019345 T DE 602004019345T DE 602004019345 T DE602004019345 T DE 602004019345T DE 602004019345 D1 DE602004019345 D1 DE 602004019345D1
- Authority
- DE
- Germany
- Prior art keywords
- movable part
- trajectory
- movement
- controlling movements
- tangent
- 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.)
- Active
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
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Feedback Control In General (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0315068A FR2864266B1 (fr) | 2003-12-19 | 2003-12-19 | Procede et dispositif de commande des deplacements d'une partie mobile d'un robot multi-axes |
PCT/FR2004/003291 WO2005062143A1 (fr) | 2003-12-19 | 2004-12-17 | Procede et dispositif de commande des deplacements d'une partie mobile d'un robot multi-axes |
Publications (1)
Publication Number | Publication Date |
---|---|
DE602004019345D1 true DE602004019345D1 (de) | 2009-03-19 |
Family
ID=34630392
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE602004019345T Active DE602004019345D1 (de) | 2003-12-19 | 2004-12-17 | Verfahren und einrichtung zur steuerung von verschiebungen des beweglichen teils eines mehrachsenroboters |
Country Status (8)
Country | Link |
---|---|
US (1) | US7853358B2 (de) |
EP (1) | EP1695160B1 (de) |
JP (1) | JP2007515301A (de) |
CN (1) | CN100476654C (de) |
AT (1) | ATE422254T1 (de) |
DE (1) | DE602004019345D1 (de) |
FR (1) | FR2864266B1 (de) |
WO (1) | WO2005062143A1 (de) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006048684A1 (de) * | 2006-10-14 | 2008-04-17 | Dr. Johannes Heidenhain Gmbh | Verfahren zum Positionieren von Achsen in Werkzeugmaschinen |
US20110022228A1 (en) * | 2008-03-10 | 2011-01-27 | Honda Motor Co., Ltd. | Door removing system and door removing method |
FR2960074B1 (fr) * | 2010-05-14 | 2012-06-15 | Staubli Sa Ets | Procede de commande d'une cellule de travail automatisee |
US9921712B2 (en) | 2010-12-29 | 2018-03-20 | Mako Surgical Corp. | System and method for providing substantially stable control of a surgical tool |
US9119655B2 (en) | 2012-08-03 | 2015-09-01 | Stryker Corporation | Surgical manipulator capable of controlling a surgical instrument in multiple modes |
DE102011079116A1 (de) * | 2011-07-14 | 2013-01-17 | Kuka Roboter Gmbh | Verfahren zum Überprüfen der Plausibilität der Ausgangssignale eines Resolvers |
KR102235965B1 (ko) | 2012-08-03 | 2021-04-06 | 스트리커 코포레이션 | 로봇 수술을 위한 시스템 및 방법 |
US9820818B2 (en) | 2012-08-03 | 2017-11-21 | Stryker Corporation | System and method for controlling a surgical manipulator based on implant parameters |
US9226796B2 (en) | 2012-08-03 | 2016-01-05 | Stryker Corporation | Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path |
JP6111562B2 (ja) * | 2012-08-31 | 2017-04-12 | セイコーエプソン株式会社 | ロボット |
US9486918B1 (en) * | 2013-03-13 | 2016-11-08 | Hrl Laboratories, Llc | System and method for quick scripting of tasks for autonomous robotic manipulation |
CN103821397B (zh) * | 2014-03-13 | 2017-03-29 | 徐州工程学院 | 立体停车场液压升降机速度及定位控制系统 |
US10603794B2 (en) * | 2015-08-27 | 2020-03-31 | Accel Robotics Corporation | Robotic camera system |
US9975244B1 (en) * | 2016-08-02 | 2018-05-22 | X Development Llc | Real-time generation of trajectories for actuators of a robot |
JP6895242B2 (ja) * | 2016-11-25 | 2021-06-30 | 株式会社東芝 | ロボット制御装置、ロボット制御方法及びピッキング装置 |
WO2018112025A1 (en) | 2016-12-16 | 2018-06-21 | Mako Surgical Corp. | Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site |
JP6828572B2 (ja) * | 2017-04-18 | 2021-02-10 | 富士通株式会社 | ロボット移動時間推定プログラム及びロボット移動時間推定方法 |
FR3097565B1 (fr) * | 2019-06-19 | 2022-08-12 | Staubli Sa Ets | Machine textile, métier à tisser comportant une telle machine textile et procédés associés |
CN114800535B (zh) * | 2022-06-29 | 2022-10-25 | 深圳鹏行智能研究有限公司 | 机器人的控制方法、机械臂控制方法、机器人及控制终端 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4773025A (en) * | 1986-11-20 | 1988-09-20 | Unimation, Inc. | Multiaxis robot control having curve fitted path control |
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 |
JP2507891B2 (ja) * | 1989-02-01 | 1996-06-19 | 工業技術院長 | マニピュレ―タのインピ―ダンス制御方式 |
JP2773778B2 (ja) * | 1990-03-07 | 1998-07-09 | 富士通株式会社 | 力制御ロボットの倣い装置 |
JPH04273502A (ja) * | 1991-02-28 | 1992-09-29 | Kobe Steel Ltd | マニピュレータの制御装置 |
JPH0651838A (ja) * | 1992-08-03 | 1994-02-25 | Fujitsu Ltd | 倣い制御装置 |
JP3323912B2 (ja) * | 1999-06-21 | 2002-09-09 | 独立行政法人 航空宇宙技術研究所 | 予測力による拘束軌道作業の制御方法及びそのシステム |
JP3359011B2 (ja) * | 1999-10-12 | 2002-12-24 | 川崎重工業株式会社 | スポット溶接ロボット |
SE0001312D0 (sv) * | 2000-04-10 | 2000-04-10 | Abb Ab | Industrirobot |
JP2002035951A (ja) * | 2000-07-18 | 2002-02-05 | Mazda Motor Corp | 被溶接部材位置検出方法およびその装置 |
US6812665B2 (en) * | 2002-04-19 | 2004-11-02 | Abb Ab | In-process relative robot workcell calibration |
-
2003
- 2003-12-19 FR FR0315068A patent/FR2864266B1/fr not_active Expired - Fee Related
-
2004
- 2004-12-17 AT AT04816425T patent/ATE422254T1/de not_active IP Right Cessation
- 2004-12-17 WO PCT/FR2004/003291 patent/WO2005062143A1/fr active Application Filing
- 2004-12-17 CN CNB2004800373800A patent/CN100476654C/zh active Active
- 2004-12-17 US US10/582,297 patent/US7853358B2/en active Active
- 2004-12-17 JP JP2006544503A patent/JP2007515301A/ja active Pending
- 2004-12-17 EP EP04816425A patent/EP1695160B1/de active Active
- 2004-12-17 DE DE602004019345T patent/DE602004019345D1/de active Active
Also Published As
Publication number | Publication date |
---|---|
EP1695160B1 (de) | 2009-02-04 |
CN1894640A (zh) | 2007-01-10 |
FR2864266B1 (fr) | 2006-02-17 |
EP1695160A1 (de) | 2006-08-30 |
JP2007515301A (ja) | 2007-06-14 |
US7853358B2 (en) | 2010-12-14 |
FR2864266A1 (fr) | 2005-06-24 |
US20080147238A1 (en) | 2008-06-19 |
WO2005062143A1 (fr) | 2005-07-07 |
ATE422254T1 (de) | 2009-02-15 |
CN100476654C (zh) | 2009-04-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE602004019345D1 (de) | Verfahren und einrichtung zur steuerung von verschiebungen des beweglichen teils eines mehrachsenroboters | |
ATE504869T1 (de) | Verfahren und system zur auslegung und überprüfung von sicherheitsbereichen eines roboters | |
ATE473072T1 (de) | Verfahren und vorrichtung zum steuern von handhabungsgeräten | |
WO2007136769A3 (en) | Method and apparatus for controlling a haptic device | |
ATE349729T1 (de) | Verfahren und vorrichtung zur steuerung eines flugzeuges | |
DE602004030517D1 (de) | Vorrichtung zur Off- line Simulation von robotischen Arbeitsgängen | |
DE60143814D1 (de) | Vorrichtung und verfahren zur steuerung eines beweglichen roboters mit beinen und verfahren zur erzeugung von bewegungsmustern für einen beweglichen roboter mit beinen | |
ATE274886T1 (de) | Vorrichtung und verfahren zum bestimmen des öffnungswinkels eines gelenks | |
WO2008005660A3 (en) | Robotics virtual rail system and method | |
ATE411216T1 (de) | Trainingsgerät zur steuerung eines motorfahrzeuges | |
MXPA03010908A (es) | DISPOSITIVO DE ESTIRAMIENTO INTELIGENTE PORTaTIL. | |
DE602006015582D1 (de) | Antreibvorrichtung für die Ruder eines Geschosses | |
DE60328329D1 (de) | Steuerung des Anfahrens und anschliessenden Ablaufes der Beschleunigung eines Hybridfahrzeuges | |
DE60210870D1 (de) | Geschwindigkeitsregelung eines Fahrzeugs | |
DE602005019070D1 (de) | Her einheiten und sprachsynthesevorrichtung | |
DE50211639D1 (de) | Verfahren zur steuerung des betriebsverhaltens eines hybridantriebes eines fahrzeuges | |
DE50114488D1 (de) | Vorrichtung zur adaptiven fahrgeschwindigkeitsreglung eines kraftfahrzeugs mittels lenk- oder bremseingriffe | |
ATE529055T1 (de) | Vorrichtung zur wärmebehandlung von beweglichem biologischem gewebe und relevantes positionierung verfahren | |
ATE329809T1 (de) | Verfahren zur umsteuerung der antriebsrichtung | |
DE69829559D1 (de) | Verfahren zur überwachung der steuerung der bewegung eines manipulators | |
DE50309327D1 (de) | Verfahren und vorrichtung zur steuerung von funktionen eines arbeitsfahrzeuges | |
ATE544079T1 (de) | Verfahren und vorrichtung zur positionsbestimmung | |
DE60228778D1 (de) | Navigationsvorrichtung zur Erzeugung der Fortschrittsrichtung eines bewegbaren Körper | |
ATE386606T1 (de) | Anordnung und verfahren zur regelung der nahtlage eines laserstrahlgefügten profils | |
DE502006007920D1 (de) | Fluidisch betätigter antrieb sowie verfahren zur steuerung desselben |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition |