DE68920212D1 - Roboter mit Werkzeugsteuerung für Verschiebungsfolge. - Google Patents

Roboter mit Werkzeugsteuerung für Verschiebungsfolge.

Info

Publication number
DE68920212D1
DE68920212D1 DE68920212T DE68920212T DE68920212D1 DE 68920212 D1 DE68920212 D1 DE 68920212D1 DE 68920212 T DE68920212 T DE 68920212T DE 68920212 T DE68920212 T DE 68920212T DE 68920212 D1 DE68920212 D1 DE 68920212D1
Authority
DE
Germany
Prior art keywords
robot
tool control
displacement sequence
displacement
sequence
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
DE68920212T
Other languages
English (en)
Other versions
DE68920212T2 (de
Inventor
Yasuo Ishiguro
Yoshito Kato
Chisao C O K K Toyota Hayashi
Masaru C O K K Toyota C Nakano
Mitsuo C O K K Toyota Ch Koide
Hiroshi C O K K Toyota Moribe
Toshitaka C O K K Toyota Kuno
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.)
Toyota Motor Corp
Original Assignee
Toyota Motor 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 Toyota Motor Corp filed Critical Toyota Motor Corp
Application granted granted Critical
Publication of DE68920212D1 publication Critical patent/DE68920212D1/de
Publication of DE68920212T2 publication Critical patent/DE68920212T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • G05B19/42—Recording 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
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36417—Programmed coarse position, fine position by alignment, follow line, path adaptive
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45161—Grinding machine
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49362—Tool, probe at constant height to surface during machining
DE68920212T 1988-06-30 1989-06-27 Roboter mit Werkzeugsteuerung für Verschiebungsfolge. Expired - Lifetime DE68920212T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP63162933A JP2676793B2 (ja) 1988-06-30 1988-06-30 倣い制御ロボット

Publications (2)

Publication Number Publication Date
DE68920212D1 true DE68920212D1 (de) 1995-02-09
DE68920212T2 DE68920212T2 (de) 1995-05-11

Family

ID=15763998

Family Applications (1)

Application Number Title Priority Date Filing Date
DE68920212T Expired - Lifetime DE68920212T2 (de) 1988-06-30 1989-06-27 Roboter mit Werkzeugsteuerung für Verschiebungsfolge.

Country Status (4)

Country Link
US (1) US4967127A (de)
EP (1) EP0349291B1 (de)
JP (1) JP2676793B2 (de)
DE (1) DE68920212T2 (de)

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JPH03150090A (ja) * 1989-11-02 1991-06-26 Fanuc Ltd 主軸モータの制御方式
JPH03176703A (ja) * 1989-12-05 1991-07-31 Yoshiaki Kakino 数値制御装置
US5231803A (en) * 1992-04-13 1993-08-03 Minnesota Mining And Manufacturing Company Automated random orbital abrading method
EP0583487B1 (de) * 1992-07-21 1995-10-04 Siemens Aktiengesellschaft Verfahren zur zeitoptimalen bahntreuen Abbremsung der Achsantriebe von numerisch gesteuerten Maschinen
SE508216C2 (sv) * 1993-03-12 1998-09-14 Abb Stal Ab Automatisk efterbearbetning av skovlar till roterande maskiner
US5429682A (en) * 1993-08-19 1995-07-04 Advanced Robotics Technologies Automated three-dimensional precision coatings application apparatus
JPH07261821A (ja) * 1994-03-16 1995-10-13 Fanuc Ltd 負荷による撓みを考慮したロボット軌道計画方法
JP2819456B2 (ja) * 1995-10-09 1998-10-30 セイコー精機株式会社 汎用研磨装置
SE9603077D0 (sv) * 1996-08-29 1996-08-29 Tetra Laval Holdings & Finance An apparatus for and a method of performing an animal-related action regarding at least a part of the body of an animal
JP3215086B2 (ja) * 1998-07-09 2001-10-02 ファナック株式会社 ロボット制御装置
KR100341209B1 (ko) * 1999-09-20 2003-01-24 유범상 금형 연마 로봇의 자동화 제어방법
JP4548984B2 (ja) * 2001-07-18 2010-09-22 株式会社リコー Ｉｃ搬送装置
DE10255037A1 (de) * 2002-11-26 2004-06-09 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Bearbeiten eines Werkstücks
US6971273B2 (en) * 2003-05-30 2005-12-06 The Boeing Company Tool evaluation system and method
US7159440B2 (en) * 2003-06-26 2007-01-09 The Boeing Company Tool evaluation calibrator and method
US7603199B2 (en) * 2003-11-27 2009-10-13 Honda Motor Co., Ltd. Control device for mobile body
FR2864266B1 (fr) * 2003-12-19 2006-02-17 Staubli Sa Ets Procede et dispositif de commande des deplacements d'une partie mobile d'un robot multi-axes
DE102006049956A1 (de) * 2006-10-19 2008-04-24 Abb Ag System und Verfahren zur automatisierten Ver- und/oder Bearbeitung von Werkstücken
JP2008188722A (ja) * 2007-02-06 2008-08-21 Fanuc Ltd ロボット制御装置
JP5435211B2 (ja) 2009-04-08 2014-03-05 コスモンド株式会社 ユニットルームとその二段設置構造
JP5236596B2 (ja) * 2009-08-19 2013-07-17 ファナック株式会社 加工ロボットシステム
JP4795462B2 (ja) 2009-11-12 2011-10-19 ファナック株式会社 力センサを搭載したロボットマニピュレータを用いたロールヘム加工装置
ES2636015T3 (es) 2010-03-05 2017-10-05 Fidia S.P.A. Método para mover una herramienta de una máquina de CNC sobre una superficie
JP5765615B2 (ja) * 2011-02-28 2015-08-19 株式会社Ihi 加工ロボットの軌道追従装置と方法
DE102011079116A1 (de) * 2011-07-14 2013-01-17 Kuka Roboter Gmbh Verfahren zum Überprüfen der Plausibilität der Ausgangssignale eines Resolvers
JP5897891B2 (ja) * 2011-12-13 2016-04-06 Dmg森精機株式会社 工作機械
JP5927259B2 (ja) 2014-09-30 2016-06-01 ファナック株式会社 力制御を実行するロボットシステム
US9962833B2 (en) 2015-04-07 2018-05-08 Mtm Robotics, Llc System and method for adjusting end-effector actuation based on relative position with respect to gravitational force
WO2017033353A1 (ja) * 2015-08-25 2017-03-02 川崎重工業株式会社 遠隔操作ロボットシステム
JP6690213B2 (ja) * 2015-12-09 2020-04-28 セイコーエプソン株式会社 ロボット、制御装置およびロボットシステム
KR20180020780A (ko) * 2016-08-19 2018-02-28 현대자동차주식회사 휴대용 소음 계측 장치 및 방법
JP7314475B2 (ja) * 2016-11-11 2023-07-26 セイコーエプソン株式会社 ロボット制御装置、及び、ロボット制御方法
JP6484261B2 (ja) * 2017-01-19 2019-03-13 ファナック株式会社 数値制御装置
JP6734522B2 (ja) * 2017-05-08 2020-08-05 トライエンジニアリング株式会社 ロボット装置
CN108544374B (zh) * 2018-03-21 2023-06-20 安徽工程大学 一种多维力反馈柔性浮动打磨动力头及其使用方法
TWI710748B (zh) * 2019-04-15 2020-11-21 財團法人工業技術研究院 輪廓精度量測系統及量測方法
CN110142762B (zh) * 2019-05-10 2022-02-01 武汉库柏特科技有限公司 一种机器人关节位置控制方法、装置和机器人
WO2021009976A1 (ja) 2019-07-18 2021-01-21 株式会社安川電機 制御システム、制御装置及び制御方法
WO2021107139A1 (ja) * 2019-11-27 2021-06-03 株式会社安川電機 研削システム、補正量推定装置、コンピュータプログラム及び研削方法
CN113568366B (zh) * 2020-04-29 2023-03-21 北京配天技术有限公司 机器人的运动控制方法、系统及计算机存储介质
CN112658808B (zh) * 2020-11-11 2022-07-29 哈尔滨工业大学（深圳） 力位耦合柔顺打磨控制方法和柔顺打磨控制系统
CN113459085A (zh) * 2021-05-24 2021-10-01 南京航空航天大学 一种基于力反馈的复杂曲面机器人贴合方法
CN113547522B (zh) * 2021-07-30 2022-09-23 山东大学 一种机器人路径精度补偿方法及系统
CN114098716B (zh) * 2021-11-15 2023-11-21 北京航空航天大学 一种获取运动姿态的方法及装置

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US3727119A (en) * 1971-02-01 1973-04-10 Information Dev Corp Servo controlled automatic inspection apparatus
US3934186A (en) * 1972-03-07 1976-01-20 Mitsubishi Jukogyo Kabushiki Kaisha Program control system for robots for industrial use
JPS599305B2 (ja) * 1978-03-23 1984-03-01 ファナック株式会社 倣い制御装置
JPS5685106A (en) * 1979-12-14 1981-07-11 Hitachi Ltd Robot teaching method
US4362978A (en) * 1980-10-27 1982-12-07 Unimation, Inc. Control system for manipulator apparatus
JPS59115149A (ja) * 1982-12-22 1984-07-03 Fanuc Ltd ならい制御方法
JPS59224240A (ja) * 1983-05-31 1984-12-17 Fanuc Ltd ならい制御装置
US4621332A (en) * 1983-06-20 1986-11-04 Hitachi, Ltd. Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient
GB2166841B (en) * 1984-11-09 1988-11-02 Ferranti Plc Reaction force compensation
JPS61156309A (ja) * 1984-12-27 1986-07-16 Toshiba Mach Co Ltd 速度段差平滑機能を備えた数値制御装置
JPS61197148A (ja) * 1985-02-26 1986-09-01 Fanuc Ltd 任意方向ならい制御装置
JPS62139006A (ja) * 1985-12-13 1987-06-22 Toyoda Mach Works Ltd ロボツト制御装置
JPH0731536B2 (ja) * 1986-06-30 1995-04-10 トヨタ自動車株式会社 教示デ−タ補正ロボツト
JPH0682299B2 (ja) * 1986-09-30 1994-10-19 株式会社日研工作所 Ｎｃ装置の自動運転モードにおけるプログラムデータ入出力方法
JPS6388613A (ja) * 1986-10-01 1988-04-19 Mitsubishi Electric Corp 数値制御システム
JPH07104692B2 (ja) * 1986-10-02 1995-11-13 トヨタ自動車株式会社 予見追跡制御型ロボツト

Also Published As

Publication number Publication date
EP0349291A3 (en) 1990-12-05
JP2676793B2 (ja) 1997-11-17
DE68920212T2 (de) 1995-05-11
US4967127A (en) 1990-10-30
JPH0215956A (ja) 1990-01-19
EP0349291A2 (de) 1990-01-03
EP0349291B1 (de) 1994-12-28

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Legal Events

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8364 No opposition during term of opposition
8320 Willingness to grant licences declared (paragraph 23)