DE68923599D1 - Spiegelbildformungsverfahren für einen roboter. - Google Patents

Spiegelbildformungsverfahren für einen roboter.

Info

Publication number
DE68923599D1
DE68923599D1 DE68923599T DE68923599T DE68923599D1 DE 68923599 D1 DE68923599 D1 DE 68923599D1 DE 68923599 T DE68923599 T DE 68923599T DE 68923599 T DE68923599 T DE 68923599T DE 68923599 D1 DE68923599 D1 DE 68923599D1
Authority
DE
Germany
Prior art keywords
robot
imaging method
mirror imaging
mirror
imaging
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
DE68923599T
Other languages
English (en)
Other versions
DE68923599T2 (de
Inventor
Ryuichi Room - Fanuc Mans 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 DE68923599D1 publication Critical patent/DE68923599D1/de
Publication of DE68923599T2 publication Critical patent/DE68923599T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • G05B19/18—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
    • G05B19/402—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 control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • G05B19/408—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 data handling or data format, e.g. reading, buffering or conversion of data
    • 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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • 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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • 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
    • 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
    • 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
    • G05B2219/39122—Follower, slave mirrors leader, master
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
DE68923599T 1988-04-23 1989-04-17 Spiegelbildformungsverfahren für einen roboter. Expired - Fee Related DE68923599T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP63099318A JP2759324B2 (ja) 1988-04-23 1988-04-23 ロボットのミラーイメージ方法
PCT/JP1989/000409 WO1989010589A1 (fr) 1988-04-23 1989-04-17 Procede de formation d'images a symetrie speculaire pour robots

Publications (2)

Publication Number Publication Date
DE68923599D1 true DE68923599D1 (de) 1995-08-31
DE68923599T2 DE68923599T2 (de) 1996-01-11

Family

ID=14244289

Family Applications (1)

Application Number Title Priority Date Filing Date
DE68923599T Expired - Fee Related DE68923599T2 (de) 1988-04-23 1989-04-17 Spiegelbildformungsverfahren für einen roboter.

Country Status (6)

Country Link
US (1) US5191639A (de)
EP (1) EP0369026B1 (de)
JP (1) JP2759324B2 (de)
KR (1) KR900700949A (de)
DE (1) DE68923599T2 (de)
WO (1) WO1989010589A1 (de)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5600759A (en) * 1989-03-20 1997-02-04 Fanuc Ltd. Robot capable of generating patterns of movement path
JPH04169905A (ja) * 1990-11-01 1992-06-17 Fanuc Ltd ３次元レーザの座標変換方式
DE69216167T2 (de) * 1991-07-06 1997-07-10 Daihen Corp Gerät zur Steuerung eines Industrieroboters zur Durchführung koordinierter Arbeitsvorgänge unter Verwendung eines Playbackteachingverfahrens und dies-bezügliches Verfahren
JP2702320B2 (ja) * 1991-07-26 1998-01-21 川崎重工業株式会社 ロボットの制御装置
JP3382276B2 (ja) * 1993-01-07 2003-03-04 キヤノン株式会社 電子機器及びその制御方法
DE602004019781D1 (de) * 2003-06-20 2009-04-16 Fanuc Robotics America Inc Mehrfach-roboterarm-verfolgung und spiegel-jog
US8301302B2 (en) * 2008-05-08 2012-10-30 The Boeing Company Synchronous robotic operation on a structure having a confined space
US20100217437A1 (en) * 2009-02-24 2010-08-26 Branko Sarh Autonomous robotic assembly system
US8666546B2 (en) * 2009-07-10 2014-03-04 The Boeing Company Autonomous robotic platform
US9207667B2 (en) * 2013-04-16 2015-12-08 Siemens Industry Software Ltd. Automatic generation of robotic processes for symmetric products
CN109048905B (zh) * 2018-08-23 2022-02-18 珠海格力智能装备有限公司 机器人末端执行器坐标系的确定方法及装置
CN110465968B (zh) * 2019-08-19 2022-03-08 南京埃斯顿机器人工程有限公司 一种机器人空间位置点镜像方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH065486B2 (ja) * 1981-03-26 1994-01-19 株式会社安川電機 ロボットの軌跡制御方法
JPS588310A (ja) * 1981-07-07 1983-01-18 Fanuc Ltd 座標更新方式
JPS58120480A (ja) * 1982-01-11 1983-07-18 株式会社神戸製鋼所 左右対称動作を行う記憶・再生型ロボツト
JPS59189415A (ja) * 1983-04-13 1984-10-27 Hitachi Ltd 工業用ロボツトの動作教示方法および装置
FR2553912B1 (fr) * 1983-10-21 1985-12-20 Onera (Off Nat Aerospatiale) Procede et appareillage pour determiner l'attitude d'un objet dans l'espace par rapport a un poste d'observation
JPS60107107A (ja) * 1983-11-16 1985-06-12 Nachi Fujikoshi Corp 産業用ロボツトのオフライン・テイ−チング方法
JP2701022B2 (ja) * 1984-05-22 1998-01-21 ファナック 株式会社 プログラマブルミラーイメージ機能を有する数値制御装置
US4639878A (en) * 1985-06-04 1987-01-27 Gmf Robotics Corporation Method and system for automatically determining the position and attitude of an object
JPS62108314A (ja) * 1985-11-07 1987-05-19 Mitsubishi Electric Corp ロボツトのオフラインプログラミング装置
JPS62264847A (ja) * 1986-05-08 1987-11-17 Honda Motor Co Ltd 左右対称なワ−クのｎｃ加工制御方法

Also Published As

Publication number Publication date
JPH01271804A (ja) 1989-10-30
WO1989010589A1 (fr) 1989-11-02
KR900700949A (ko) 1990-08-17
EP0369026B1 (de) 1995-07-26
EP0369026A4 (en) 1992-07-08
EP0369026A1 (de) 1990-05-23
JP2759324B2 (ja) 1998-05-28
DE68923599T2 (de) 1996-01-11
US5191639A (en) 1993-03-02

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee