DE68919821T2 - Verfahren zur steuerung der werkzeuglage eines roboters. - Google Patents

Verfahren zur steuerung der werkzeuglage eines roboters.

Info

Publication number
DE68919821T2
DE68919821T2 DE68919821T DE68919821T DE68919821T2 DE 68919821 T2 DE68919821 T2 DE 68919821T2 DE 68919821 T DE68919821 T DE 68919821T DE 68919821 T DE68919821 T DE 68919821T DE 68919821 T2 DE68919821 T2 DE 68919821T2
Authority
DE
Germany
Prior art keywords
robot
controlling
tool position
tool
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
Application number
DE68919821T
Other languages
English (en)
Other versions
DE68919821D1 (de
Inventor
Ryuichi Room - Hara
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
Application granted granted Critical
Publication of DE68919821D1 publication Critical patent/DE68919821D1/de
Publication of DE68919821T2 publication Critical patent/DE68919821T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50353—Tool, probe inclination, orientation to surface, posture, attitude

Landscapes

  • Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE68919821T 1988-03-10 1989-03-09 Verfahren zur steuerung der werkzeuglage eines roboters. Expired - Fee Related DE68919821T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP05483588A JP3207409B2 (ja) 1988-03-10 1988-03-10 ロボットのツール姿勢制御方法
PCT/JP1989/000262 WO1989008878A1 (en) 1988-03-10 1989-03-09 Method of controlling tool attitude of a robot

Publications (2)

Publication Number Publication Date
DE68919821D1 DE68919821D1 (de) 1995-01-19
DE68919821T2 true DE68919821T2 (de) 1995-04-27

Family

ID=12981692

Family Applications (1)

Application Number Title Priority Date Filing Date
DE68919821T Expired - Fee Related DE68919821T2 (de) 1988-03-10 1989-03-09 Verfahren zur steuerung der werkzeuglage eines roboters.

Country Status (6)

Country Link
US (1) US4967125A (de)
EP (1) EP0380678B1 (de)
JP (1) JP3207409B2 (de)
KR (1) KR960001962B1 (de)
DE (1) DE68919821T2 (de)
WO (1) WO1989008878A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019125335B4 (de) 2018-09-27 2024-04-25 Fanuc Corporation Robotersteuervorrichtung zur Steuerung der Kreisbogenbewegung eines Roboters

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5276777A (en) * 1988-04-27 1994-01-04 Fanuc Ltd. Locus correcting method for industrial robots
JP2512099B2 (ja) * 1988-08-24 1996-07-03 松下電器産業株式会社 ロボットの動作教示方法および制御装置
US5600759A (en) * 1989-03-20 1997-02-04 Fanuc Ltd. Robot capable of generating patterns of movement path
DE59106878D1 (de) * 1990-03-30 1995-12-21 Siemens Ag Verfahren zur Steuerung von Positioniersystemen.
US5325468A (en) * 1990-10-31 1994-06-28 Sanyo Electric Co., Ltd. Operation planning system for robot
US5761390A (en) * 1991-12-12 1998-06-02 Hitachi, Ltd. Robot for removing unnecessary portion on workpiece
WO1993022107A1 (en) * 1992-04-23 1993-11-11 Kabushiki Kaisha Komatsu Seisakusho Method of controlling industrial robot
JP3223583B2 (ja) * 1992-06-29 2001-10-29 株式会社島津製作所 マイクロマニピュレータ用操作装置
US5340962A (en) * 1992-08-14 1994-08-23 Lumonics Corporation Automatic control of laser beam tool positioning
JPH06348322A (ja) * 1993-06-07 1994-12-22 Fanuc Ltd ロボットのオフライン教示方法
US5602968A (en) * 1994-05-02 1997-02-11 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Task space angular velocity blending for real-time trajectory generation
JPH11134017A (ja) * 1997-10-27 1999-05-21 Honda Motor Co Ltd オフラインティーチング方法
JP3473834B2 (ja) * 1999-11-29 2003-12-08 株式会社安川電機 ロボットの制御装置
DE10163503A1 (de) 2001-12-21 2003-07-10 Siemens Ag Polynom- und Spline-Interpolation von Werkzeugorientierungen
DE10224755A1 (de) 2002-06-04 2003-12-24 Siemens Ag Steuerungsverfahren für eine industrielle Bearbeitungsmaschine
CN105082125B (zh) * 2015-08-05 2017-09-26 华南理工大学 一种液滴微操作机械手结构的姿态控制方法
CN109032077B (zh) * 2018-09-05 2022-03-18 沈阳建筑大学 一种基于刀具姿态控制的五轴数控加工指令点插补方法
WO2020141579A1 (ja) * 2019-01-04 2020-07-09 ソニー株式会社 制御装置、制御方法、及びプログラム
CN111872943B (zh) * 2020-09-28 2021-02-19 佛山隆深机器人有限公司 一种基于正弦曲线的机器人圆弧轨迹规划方法

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5822410A (ja) * 1981-07-31 1983-02-09 Fanuc Ltd 数値制御方式
JPS5851304A (ja) * 1981-09-24 1983-03-26 Hitachi Ltd ロボツトハンドの姿勢補間方式
JPS5856003A (ja) * 1981-09-30 1983-04-02 Hitachi Ltd 工業用ロボツトの制御方法
JPS59218513A (ja) * 1983-05-26 1984-12-08 Fanuc Ltd 工業用ロボツトの円弧制御法
JPS6125207A (ja) * 1984-07-12 1986-02-04 Fanuc Ltd ツ−ル座標系の設定方式
US4635206A (en) * 1984-10-15 1987-01-06 Cincinnati Milacron Inc. Method and apparatus for oscillating a tool carried by a manipulator
JPS61198304A (ja) * 1985-02-28 1986-09-02 Nec Corp ア−ム制御方式
JPH0611458B2 (ja) * 1985-06-27 1994-02-16 ファナック株式会社 工具形状表示装置
JPS62285110A (ja) * 1986-06-04 1987-12-11 Toshiba Corp 工業ロボツトの制御装置
DE3640987C1 (de) * 1986-12-01 1993-04-29 Agie Ag Ind Elektronik Numerisches Steuersystem fuer hochdynamische Prozesse
US4868473A (en) * 1987-02-24 1989-09-19 Mitsubishi Denki Kabushiki Kaisha Industrial robot device including a robot and a processing machine
US4835710A (en) * 1987-07-17 1989-05-30 Cincinnati Milacron Inc. Method of moving and orienting a tool along a curved path

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019125335B4 (de) 2018-09-27 2024-04-25 Fanuc Corporation Robotersteuervorrichtung zur Steuerung der Kreisbogenbewegung eines Roboters

Also Published As

Publication number Publication date
US4967125A (en) 1990-10-30
EP0380678A1 (de) 1990-08-08
JPH01230105A (ja) 1989-09-13
DE68919821D1 (de) 1995-01-19
EP0380678A4 (en) 1991-06-19
KR900700244A (ko) 1990-08-11
KR960001962B1 (ko) 1996-02-08
JP3207409B2 (ja) 2001-09-10
EP0380678B1 (de) 1994-12-07
WO1989008878A1 (en) 1989-09-21

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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