DE602006000648D1 - Offline-Lehrgerät für einen Roboter - Google Patents

Offline-Lehrgerät für einen Roboter

Info

Publication number
DE602006000648D1
DE602006000648D1 DE200660000648 DE602006000648T DE602006000648D1 DE 602006000648 D1 DE602006000648 D1 DE 602006000648D1 DE 200660000648 DE200660000648 DE 200660000648 DE 602006000648 T DE602006000648 T DE 602006000648T DE 602006000648 D1 DE602006000648 D1 DE 602006000648D1
Authority
DE
Germany
Prior art keywords
robot
teaching device
offline teaching
offline
device
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
Application number
DE200660000648
Other languages
English (en)
Other versions
DE602006000648T2 (de
Inventor
Yoshiharu Nagatsuka
Kozo Inoue
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
Priority to JP2005297426 priority Critical
Priority to JP2005297426A priority patent/JP3971773B2/ja
Application filed by FANUC Corp filed Critical FANUC Corp
Publication of DE602006000648D1 publication Critical patent/DE602006000648D1/de
Application granted granted Critical
Publication of DE602006000648T2 publication Critical patent/DE602006000648T2/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08Devices involving relative movement between laser beam and workpiece
    • B23K26/0869Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/42Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/36Nc in input of data, input key till input tape
    • G05B2219/36404Adapt teached position as function of deviation 3-D, 2-D position workpiece
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/36Nc in input of data, input key till input tape
    • G05B2219/36414Compare image detected path with stored reference, difference corrects position
DE200660000648 2005-10-12 2006-10-09 Offline-Lehrgerät für einen Roboter Active DE602006000648T2 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2005297426 2005-10-12
JP2005297426A JP3971773B2 (ja) 2005-10-12 2005-10-12 ロボットのオフライン教示装置

Publications (2)

Publication Number Publication Date
DE602006000648D1 true DE602006000648D1 (de) 2008-04-17
DE602006000648T2 DE602006000648T2 (de) 2009-03-26

Family

ID=37667190

Family Applications (1)

Application Number Title Priority Date Filing Date
DE200660000648 Active DE602006000648T2 (de) 2005-10-12 2006-10-09 Offline-Lehrgerät für einen Roboter

Country Status (5)

Country Link
US (1) US7324873B2 (de)
EP (1) EP1777600B1 (de)
JP (1) JP3971773B2 (de)
CN (1) CN100537156C (de)
DE (1) DE602006000648T2 (de)

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DE102004026814A1 (de) * 2004-06-02 2005-12-29 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Verbessern der Positioniergenauigkeit eines Handhabungsgeräts
JP2007061983A (ja) * 2005-09-01 2007-03-15 Fanuc Ltd ロボット監視システム
DE102007056117A1 (de) * 2007-11-15 2009-05-28 Kuka Roboter Gmbh Industrieroboter und Verfahren zum Steuern der Bewegung eines Industrieroboters
JP4347386B2 (ja) * 2008-01-23 2009-10-21 ファナック株式会社 加工用ロボットプラグラムの作成装置
JP2009274191A (ja) * 2008-05-17 2009-11-26 National Univ Corp Shizuoka Univ 作業用ロボットおよび同作業用ロボットに適用されるコンピュータプログラム
CN106994684A (zh) 2009-02-03 2017-08-01 范努克机器人技术美国有限公司 控制机器人工具的方法
US8457791B2 (en) * 2009-03-10 2013-06-04 GM Global Technology Operations LLC Method for dynamically controlling a robotic arm
CN101833892A (zh) * 2010-04-30 2010-09-15 东南大学 用于焊接机器人的嵌入式示教编程装置及方法
US9855622B2 (en) 2010-05-26 2018-01-02 Illinois Tool Works Inc. Automatic and semi-automatic welding systems and methods
JP5813931B2 (ja) * 2010-07-15 2015-11-17 ユタカ電機株式会社 教示データの修正システム
DE102010034683A1 (de) * 2010-08-18 2012-02-23 Kuka Roboter Gmbh Verfahren und Programmiermittel zum Programmieren eines Roboters
WO2013046356A1 (ja) * 2011-09-28 2013-04-04 株式会社安川電機 ロボットシステムおよび加工物作製方法
JP5340455B1 (ja) 2012-05-30 2013-11-13 ファナック株式会社 オフラインプログラミング装置
CN104070523B (zh) * 2013-03-27 2015-11-25 深圳市博锐捷数控技术有限公司 基于空间坐标转换的工业机器人实时圆弧插补实现方法
JP6022393B2 (ja) * 2013-03-28 2016-11-09 株式会社神戸製鋼所 溶接線情報設定装置、プログラム、自動教示システム、および溶接線情報設定方法
WO2015079740A1 (ja) * 2013-11-28 2015-06-04 三菱電機株式会社 ロボットシステムおよびロボットシステムの制御方法
JP5980867B2 (ja) * 2014-10-07 2016-08-31 ファナック株式会社 ロボットをオフラインで教示するロボット教示装置
JP6068423B2 (ja) 2014-11-28 2017-01-25 ファナック株式会社 加工動作をロボットに教示するロボットプログラミング装置
CN104552300B (zh) * 2014-12-26 2016-02-03 佛山市新鹏机器人技术有限公司 一种基于示教机器人的离线编程示教装置及方法
DE102015204599B3 (de) * 2015-03-13 2016-08-11 Kuka Roboter Gmbh Verfahren zur Steuerung eines Manipulators zur Ausführung eines Arbeitsprozesses
US10359760B2 (en) * 2015-04-13 2019-07-23 Michael Scott, JR. Adaptable machining method and system
JP6017642B1 (ja) * 2015-07-17 2016-11-02 ファナック株式会社 ロボット動作の教示作業支援装置および教示作業支援方法
CN106003066B (zh) * 2015-12-23 2018-07-03 北京聚能鼎力科技股份有限公司 一种机器人程序控制系统
CN105415375B (zh) * 2016-01-02 2017-04-05 宁波市智能制造产业研究院 一种机器人离线编程系统
CN105415376B (zh) * 2016-01-10 2017-03-29 宁波市智能制造产业研究院 一种离线编程装置
JP6370821B2 (ja) 2016-02-12 2018-08-08 ファナック株式会社 ロボットプログラムの教示を行うロボットプログラミング装置
CN105834557B (zh) * 2016-05-27 2018-10-16 廊坊智通机器人系统有限公司 弧焊机器人焊接的直线焊缝离线跟踪方法
JP6469162B2 (ja) 2017-04-17 2019-02-13 ファナック株式会社 ロボットのオフライン教示装置
DE102017011252A1 (de) * 2017-12-06 2019-06-06 Kuka Deutschland Gmbh Verfahren und System zur Bauteilbearbeitung durch Roboter
DE102018112650A1 (de) * 2018-05-25 2019-11-28 Franka Emika Gmbh Verfahren zum Bereitstellen von Sollgrößen für einen Regler eines Robotermanipulators

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4433382A (en) * 1981-07-20 1984-02-21 Cincinnati Milacron Inc. Apparatus for automatically adjusting the programmed location of a robot arm
US4868473A (en) * 1987-02-24 1989-09-19 Mitsubishi Denki Kabushiki Kaisha Industrial robot device including a robot and a processing machine
JP2702320B2 (ja) * 1991-07-26 1998-01-21 トヨタ自動車株式会社 ロボットの制御装置
JP3231478B2 (ja) 1993-05-28 2001-11-19 株式会社日立ケーイーシステムズ ロボットの教示装置
US5724489A (en) * 1995-09-25 1998-03-03 Honda Giken Kogyo Kabushiki Kaisha Apparatus for and method of generating robot teaching data on offline basis
JPH10264067A (ja) * 1997-03-28 1998-10-06 Fanuc Ltd 作業線探索機能を備えたロボット−レーザセンサシステム
JPH1124724A (ja) * 1997-07-09 1999-01-29 Sekisui Chem Co Ltd ロボットプログラム生成方法及び生成装置
JP3349652B2 (ja) * 1997-07-16 2002-11-25 本田技研工業株式会社 オフラインティーチング方法
JPH1177569A (ja) * 1997-09-10 1999-03-23 Honda Motor Co Ltd オフラインティーチング装置
JPH11249725A (ja) * 1998-02-26 1999-09-17 Fanuc Ltd ロボット制御装置
JP2000075910A (ja) * 1998-09-01 2000-03-14 Sekisui Chem Co Ltd 類似形状ワークのロボットプログラム作成装置
DE60035651T2 (de) * 1999-09-16 2008-05-21 Fanuc Ltd. Steuerungssystem zum synchronen kooperativen Betreiben einer Mehrzahl von Robotern
JP4000306B2 (ja) 2003-06-02 2007-10-31 本田技研工業株式会社 多関節ロボットのティーチングデータ作成方法
JP2005108144A (ja) * 2003-10-02 2005-04-21 Fanuc Ltd ロボットの補正データ確認装置

Also Published As

Publication number Publication date
CN1947961A (zh) 2007-04-18
JP2007108916A (ja) 2007-04-26
US7324873B2 (en) 2008-01-29
DE602006000648T2 (de) 2009-03-26
CN100537156C (zh) 2009-09-09
EP1777600B1 (de) 2008-03-05
EP1777600A1 (de) 2007-04-25
US20070083291A1 (en) 2007-04-12
JP3971773B2 (ja) 2007-09-05

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