DE68923889T2 - Positions-/Kraft-Steuerungsgerät für Werkzeugmaschinen mit mehreren Freiheitsgraden. - Google Patents

Positions-/Kraft-Steuerungsgerät für Werkzeugmaschinen mit mehreren Freiheitsgraden.

Info

Publication number
DE68923889T2
DE68923889T2 DE68923889T DE68923889T DE68923889T2 DE 68923889 T2 DE68923889 T2 DE 68923889T2 DE 68923889 T DE68923889 T DE 68923889T DE 68923889 T DE68923889 T DE 68923889T DE 68923889 T2 DE68923889 T2 DE 68923889T2
Authority
DE
Germany
Prior art keywords
freedom
control device
force control
machine tools
several degrees
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
DE68923889T
Other languages
English (en)
Other versions
DE68923889D1 (de
Inventor
Kunio Kashiwagi
Toru Kurenuma
Shinsaku Tsutsui
Kazuyoshi Yamada
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.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
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 claimed from JP4848788A external-priority patent/JP2718688B2/ja
Priority claimed from JP4848688A external-priority patent/JP2718687B2/ja
Priority claimed from JP19771788A external-priority patent/JPH0245806A/ja
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Application granted granted Critical
Publication of DE68923889D1 publication Critical patent/DE68923889D1/de
Publication of DE68923889T2 publication Critical patent/DE68923889T2/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
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • G05B19/416—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 of velocity, acceleration or deceleration
    • G05B19/4163—Adaptive control of feed or cutting velocity
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37357—Force, pressure, weight or deflection
DE68923889T 1988-03-01 1989-02-28 Positions-/Kraft-Steuerungsgerät für Werkzeugmaschinen mit mehreren Freiheitsgraden. Expired - Fee Related DE68923889T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP4848788A JP2718688B2 (ja) 1988-03-01 1988-03-01 多自由度作業機械の位置と力の制御装置
JP4848688A JP2718687B2 (ja) 1988-03-01 1988-03-01 多自由度作業機械の位置と力の制御装置
JP19771788A JPH0245806A (ja) 1988-08-08 1988-08-08 多自由作業機械の位置と力の制御装置

Publications (2)

Publication Number Publication Date
DE68923889D1 DE68923889D1 (de) 1995-09-28
DE68923889T2 true DE68923889T2 (de) 1996-01-18

Family

ID=27293308

Family Applications (1)

Application Number Title Priority Date Filing Date
DE68923889T Expired - Fee Related DE68923889T2 (de) 1988-03-01 1989-02-28 Positions-/Kraft-Steuerungsgerät für Werkzeugmaschinen mit mehreren Freiheitsgraden.

Country Status (3)

Country Link
US (1) US5129044A (de)
EP (1) EP0331265B1 (de)
DE (1) DE68923889T2 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112013003209B4 (de) 2012-06-29 2019-02-07 Mitsubishi Electric Corporation Robotersteuerungsvorrichtung und Robotersteuerungsverfahren
DE102018214257B3 (de) 2018-08-23 2019-08-01 Kuka Deutschland Gmbh Roboterregelung

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FR2670149B1 (fr) * 1990-12-10 1995-03-31 Electricite De France Procede de meulage d'une surface d'une piece, notamment pour la reparation d'augets de turbines et appareil correspondant.
EP0492014B1 (de) * 1990-12-28 1996-03-20 Aiko Engineering Co. Ltd. Automatische Schleifvorrichtung
JP2812582B2 (ja) * 1991-05-21 1998-10-22 株式会社日立製作所 産業用ロボットの制御装置
US5471395A (en) * 1991-06-04 1995-11-28 Anca Pty. Ltd. Control of CNC machine tools
EP0518303B1 (de) * 1991-06-14 1998-01-07 Honeywell Inc. Proportionalmodus - Handsteuerung mit Kraftrückkopplung
EP0573657B1 (de) * 1991-11-26 1997-08-27 Hitachi Construction Machinery Co., Ltd. Robotersteuerung
US5761390A (en) * 1991-12-12 1998-06-02 Hitachi, Ltd. Robot for removing unnecessary portion on workpiece
JPH05185387A (ja) * 1992-01-14 1993-07-27 Mitsubishi Electric Corp ロボットの制御装置
FR2700532B1 (fr) * 1993-01-19 1995-03-03 Potain Sa Procédé de commande hybride position/force pour robot manipulateur.
US5448146A (en) * 1993-01-29 1995-09-05 Board Of Regents, The University Of Texas System Method for applying constant force with nonlinear feedback control and constant force device using same
JP2982616B2 (ja) * 1993-09-03 1999-11-29 三菱電機株式会社 レーダ装置
AU7645694A (en) * 1993-09-13 1995-04-03 United Technologies Corporation Force and position controlled manipulator
JPH07319547A (ja) * 1994-05-20 1995-12-08 Fanuc Ltd ロボットの倣い制御方法
JP2819456B2 (ja) * 1995-10-09 1998-10-30 セイコー精機株式会社 汎用研磨装置
US5767648A (en) * 1996-04-19 1998-06-16 Massachusetts Institute Of Technology Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use thereof
US6681145B1 (en) * 1996-06-06 2004-01-20 The Boeing Company Method for improving the accuracy of machines
JPH1195821A (ja) * 1997-09-18 1999-04-09 Mitsubishi Electric Corp 接触検出方法および装置
US6292729B2 (en) * 1999-04-14 2001-09-18 Deere & Company Vehicle function management system
US20030132726A1 (en) * 2001-10-16 2003-07-17 Dohring Mark E. Admittance enhancement in force feedback of dynamic systems
US20040102140A1 (en) * 2002-11-21 2004-05-27 Wood Jeffrey H. Contour following end effectors for lapping/polishing
US6921317B2 (en) * 2002-11-21 2005-07-26 The Boeing Company Automated lapping system
US7118452B2 (en) * 2004-02-12 2006-10-10 The Boeing Company Pneumatically actuated flexible coupling end effectors for lapping/polishing
WO2006050198A2 (en) * 2004-10-28 2006-05-11 Accelerated Pictures, Llc Client/server-based animation software, systems and methods
US7904182B2 (en) 2005-06-08 2011-03-08 Brooks Automation, Inc. Scalable motion control system
US7259535B1 (en) 2006-05-08 2007-08-21 Boeing Company Apparatus and method for situating a tool with respect to a work site on a workpiece
WO2008014487A2 (en) * 2006-07-28 2008-01-31 Accelerated Pictures, Inc. Scene organization in computer-assisted filmmaking
US7880770B2 (en) * 2006-07-28 2011-02-01 Accelerated Pictures, Inc. Camera control
WO2008034257A1 (en) * 2006-09-22 2008-03-27 Agop Jean Georges Apkarian Apparatus, system and computer program for controlling a tool
US7979160B2 (en) * 2007-07-31 2011-07-12 Spirit Aerosystems, Inc. System and method for robotic accuracy improvement
US8235368B2 (en) * 2008-05-13 2012-08-07 Carnegie Mellon University Fine positioner module
US7908757B2 (en) 2008-10-16 2011-03-22 Hexagon Metrology, Inc. Articulating measuring arm with laser scanner
DE102009032278B4 (de) * 2009-07-08 2021-03-04 Kuka Roboter Gmbh Verfahren und eine Vorrichtung zum Betreiben eines Manipulators
US20110112786A1 (en) 2009-11-06 2011-05-12 Hexagon Metrology Ab Cmm with improved sensors
DE102009058607A1 (de) * 2009-12-17 2011-06-22 KUKA Laboratories GmbH, 86165 Verfahren und Vorrichtung zum Steuern eines Manipulators
JP5966372B2 (ja) * 2012-01-17 2016-08-10 セイコーエプソン株式会社 ロボット制御装置、ロボットシステム、ロボット制御方法及びロボット
JP5962020B2 (ja) 2012-01-17 2016-08-03 セイコーエプソン株式会社 ロボット制御装置、ロボットシステム、ロボット及びロボット制御方法
US8763267B2 (en) 2012-01-20 2014-07-01 Hexagon Technology Center Gmbh Locking counterbalance for a CMM
ES2579962T5 (es) 2012-04-11 2022-10-07 Assytech Srl Aparato para medir la capacidad de un recipiente y método de medición asociado
CN103507070B (zh) * 2012-06-25 2015-11-18 发那科株式会社 使用三轴力传感器进行力控制的机器人控制装置
CN104626152B (zh) * 2013-11-14 2016-08-31 沈阳新松机器人自动化股份有限公司 工业机器人主动柔顺控制方法及装置
US9259844B2 (en) * 2014-02-12 2016-02-16 General Electric Company Vision-guided electromagnetic robotic system
KR102540188B1 (ko) 2015-06-22 2023-06-07 일렉트로 싸이언티픽 인더스트리이즈 인코포레이티드 다중 축 공작기계 및 이를 제어하는 방법
CN105773602A (zh) * 2015-07-10 2016-07-20 石家庄森锐机械科技有限公司 一种码垛机器人控制系统
CN105459119A (zh) * 2016-01-15 2016-04-06 杭州国辰机器人科技有限公司 智能柔性清库机器人的自动化控制系统
DE102016212911A1 (de) * 2016-07-14 2018-01-18 Siemens Aktiengesellschaft Verfahren und Vorrichtung zum Steuern einer Roboterbewegung eines Roboters anhand einer zweiten Trajektorie
JP2018069361A (ja) * 2016-10-27 2018-05-10 セイコーエプソン株式会社 力制御座標軸設定装置、ロボットおよび力制御座標軸設定方法
GB2557179B (en) * 2016-11-29 2020-01-01 Rolls Royce Plc Methods, apparatus, computer programs and non-transitory computer readable storage mediums for controlling a hyper redundant manipulator
JP2018089747A (ja) * 2016-12-05 2018-06-14 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
EP3710778A1 (de) 2017-11-13 2020-09-23 Hexagon Metrology, Inc Thermische verwaltung einer optischen abtastvorrichtung
DE102018200864B3 (de) * 2018-01-19 2019-02-07 Kuka Deutschland Gmbh Verfahren und System zum Steuern eines Roboters
JP7135408B2 (ja) * 2018-04-26 2022-09-13 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
US11312015B2 (en) * 2018-09-10 2022-04-26 Reliabotics LLC System and method for controlling the contact pressure applied by an articulated robotic arm to a working surface
US11103980B2 (en) * 2018-10-12 2021-08-31 Ingersoll-Rand Industrial U.S., Inc. Assembly tool smart configuration selector by means of orientation detection
CN109278055A (zh) * 2018-11-19 2019-01-29 重庆科技学院 一种绘画机器人
CN109625118B (zh) * 2018-12-29 2020-09-01 深圳市优必选科技有限公司 双足机器人阻抗控制方法及装置
CN112223788B (zh) * 2020-09-08 2022-02-01 武汉大学 纤维自动铺放系统以及其铺放轨迹的规划方法
CN114434436A (zh) * 2020-10-30 2022-05-06 西门子（中国）有限公司 一种控制机器人的方法、装置和计算机可读存储介质
CN112518745B (zh) * 2020-11-25 2022-06-10 中科新松有限公司 机器人tcp快速标定方法
DE102021204494A1 (de) * 2021-05-04 2022-11-10 Kuka Deutschland Gmbh Verfahren und System zum Steuern eines Teleroboters

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JPH079608B2 (ja) * 1984-06-22 1995-02-01 株式会社日立製作所 ロボツトの制御方法及びその装置
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112013003209B4 (de) 2012-06-29 2019-02-07 Mitsubishi Electric Corporation Robotersteuerungsvorrichtung und Robotersteuerungsverfahren
DE102018214257B3 (de) 2018-08-23 2019-08-01 Kuka Deutschland Gmbh Roboterregelung

Also Published As

Publication number Publication date
EP0331265A2 (de) 1989-09-06
EP0331265B1 (de) 1995-08-23
US5129044A (en) 1992-07-07
EP0331265A3 (en) 1990-01-31
DE68923889D1 (de) 1995-09-28

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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