DE68926292D1 - Roboterbetriebsverfahren, das manuell korrigiert werden kann - Google Patents

Roboterbetriebsverfahren, das manuell korrigiert werden kann

Info

Publication number
DE68926292D1
DE68926292D1 DE68926292T DE68926292T DE68926292D1 DE 68926292 D1 DE68926292 D1 DE 68926292D1 DE 68926292 T DE68926292 T DE 68926292T DE 68926292 T DE68926292 T DE 68926292T DE 68926292 D1 DE68926292 D1 DE 68926292D1
Authority
DE
Germany
Prior art keywords
operating process
robot operating
corrected manually
corrected
manually
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
DE68926292T
Other languages
English (en)
Other versions
DE68926292T2 (de
Inventor
Tatsuo Fanuc Dai- Vir Karakama
Kouichi Fanuc Dai- Vira Okanda
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
Publication of DE68926292D1 publication Critical patent/DE68926292D1/de
Application granted granted Critical
Publication of DE68926292T2 publication Critical patent/DE68926292T2/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
    • G05B19/4093—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
    • G05B19/40931—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine concerning programming of geometry
    • G05B19/40932—Shape input
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34337—Manual to automatic, tracer
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35242—To enable manual operation on detection of inserted code
    • 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
    • G05B2219/36087—Edit, modify program for position errors, moving path, use conversion matrix
    • 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
    • G05B2219/36095—Inhibit or permit override by program instruction
    • 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
    • G05B2219/36503—Adapt program to real coordinates, software orientation
    • 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)
  • Geometry (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE68926292T 1988-12-12 1989-12-08 Roboterbetriebsverfahren, das manuell korrigiert werden kann Expired - Fee Related DE68926292T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP63311858A JPH02160487A (ja) 1988-12-12 1988-12-12 ロボット手動送り補正方式
PCT/JP1989/001234 WO1990006836A1 (en) 1988-12-12 1989-12-08 Robot operation method that can be manually corrected

Publications (2)

Publication Number Publication Date
DE68926292D1 true DE68926292D1 (de) 1996-05-23
DE68926292T2 DE68926292T2 (de) 1996-09-19

Family

ID=18022268

Family Applications (1)

Application Number Title Priority Date Filing Date
DE68926292T Expired - Fee Related DE68926292T2 (de) 1988-12-12 1989-12-08 Roboterbetriebsverfahren, das manuell korrigiert werden kann

Country Status (5)

Country Link
US (1) US5136223A (de)
EP (1) EP0400154B1 (de)
JP (1) JPH02160487A (de)
DE (1) DE68926292T2 (de)
WO (1) WO1990006836A1 (de)

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JP2611530B2 (ja) * 1990-10-02 1997-05-21 株式会社デンソー 産業用ロボットの制御装置及びその制御方法
JPH04359302A (ja) * 1991-06-05 1992-12-11 Hitachi Ltd ロボットの制御方法
GB2259586B (en) * 1991-09-11 1994-08-24 Honda Motor Co Ltd Method of and system for generating teaching data for robots
JPH0699375A (ja) * 1992-09-18 1994-04-12 Kawasaki Heavy Ind Ltd ロボット操作訓練装置
US5949683A (en) * 1994-12-20 1999-09-07 Tokico Ltd. Robot control apparatus
US6445964B1 (en) * 1997-08-04 2002-09-03 Harris Corporation Virtual reality simulation-based training of telekinegenesis system for training sequential kinematic behavior of automated kinematic machine
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
US5945817A (en) * 1998-05-26 1999-08-31 Intel Corporation Integrated circuit power status indicator and method of using the same
JP2001260061A (ja) * 2000-03-15 2001-09-25 Kawasaki Heavy Ind Ltd ロボットの再起動方法
EP1318442B1 (de) * 2001-12-04 2004-10-27 Hydro-Control Steuerungstechnik GmbH Verfahren zum lagegenauen Steuern wenigstens einer industriellen kinetischen Einrichtung, insbesondere wenigstens eines Industrieroboters
JP3805317B2 (ja) * 2003-03-17 2006-08-02 ファナック株式会社 教示位置修正方法及び教示位置修正装置
JP2005138245A (ja) * 2003-11-07 2005-06-02 Yaskawa Electric Corp 人間介入型ロボットの制御装置
JP2006293442A (ja) * 2005-04-05 2006-10-26 Sony Corp 情報処理装置および方法、並びにプログラム
EP2818283A1 (de) * 2013-06-28 2014-12-31 Robotkonsult AB Verfahren zum Kalibrieren eines Roboters
CA2945189C (en) * 2014-04-10 2022-10-11 Quanser Consulting Inc. Robotic systems and methods of operating robotic systems
WO2017033359A1 (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
EP3849754A1 (de) 2018-09-13 2021-07-21 The Charles Stark Draper Laboratory, Inc. Manipulation von brechbaren und verformbaren materialien mit gelenkmanipulatoren
US11292133B2 (en) * 2018-09-28 2022-04-05 Intel Corporation Methods and apparatus to train interdependent autonomous machines
CN110216683A (zh) * 2019-04-28 2019-09-10 天津扬天科技有限公司 一种基于游戏手柄的协作机器人示教方法
CN114043488A (zh) * 2021-12-06 2022-02-15 上海智能制造功能平台有限公司 一种多光刀视觉辅助的机器人检测系统示教自动纠偏方法

Family Cites Families (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4025838A (en) * 1974-12-26 1977-05-24 Kawasaki Heavy Industries, Ltd. Signal modification device for memory controlled manipulator apparatus
US4140953A (en) * 1976-03-03 1979-02-20 Unimation, Inc. Real time program modification apparatus
US4420812A (en) * 1979-09-14 1983-12-13 Tokico, Ltd. Teaching- playback robot
US4367532A (en) * 1979-10-12 1983-01-04 Nordson Corporation Manually programmable robot with power-assisted motion during programming
US4385358A (en) * 1979-10-19 1983-05-24 Tokico Ltd. Robot
JPS57113111A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
DE3277087D1 (en) * 1981-09-24 1987-10-01 Hitachi Ltd Control system for robot hand
US4432063A (en) * 1981-10-06 1984-02-14 Cincinnati Milacron Inc. Apparatus for automatically moving a robot arm along a nonprogrammed path
JPS5887603A (ja) * 1981-11-20 1983-05-25 Tokico Ltd 産業用ロボツト
JPS5884882U (ja) * 1981-12-01 1983-06-08 日本電気株式会社 ロボツト制御装置
US4481591A (en) * 1982-03-03 1984-11-06 Nordson Corporation Method and apparatus for modifying a prerecorded sequence of ON/OFF commands for controlling a bistable device operating in conjunction with a moving robot under program control
JPS58155189A (ja) * 1982-03-10 1983-09-14 新明和工業株式会社 産業用ロボツトの位置制御装置
JPS58192107A (ja) * 1982-05-04 1983-11-09 Okuma Mach Works Ltd ロボツトの数値制御方式
JPS5914010A (ja) * 1982-07-15 1984-01-24 Fanuc Ltd Ｎｃプログラム作成方法
JPS59115182A (ja) * 1982-12-17 1984-07-03 ヤマザキマザック株式会社 ハンドリングロボツト
JPS59116810A (ja) * 1982-12-24 1984-07-05 Hitachi Ltd ロボツト制御方法
US4670849A (en) * 1983-03-31 1987-06-02 Hitachi, Ltd. Position error correcting method and apparatus for industrial robot
US4484120A (en) * 1983-04-13 1984-11-20 Nordson Corporation Auxiliary function command presequencing for a robot controller
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
US4672190A (en) * 1984-12-21 1987-06-09 The Gerber Scientific Instrument Company Line following system and process with matrix generating
JPS61231604A (ja) * 1985-04-05 1986-10-15 Hitachi Ltd 工業用ロボツトの制御装置
JPS61233806A (ja) * 1985-04-08 1986-10-18 Mitsubishi Electric Corp 産業用ロボツト
JPS61285506A (ja) * 1985-06-12 1986-12-16 Tokico Ltd 工業用ロボツトの教示点修正方法
US4675502A (en) * 1985-12-23 1987-06-23 General Electric Company Real time tracking control for taught path robots
JPS6349803A (ja) * 1986-08-19 1988-03-02 Okuma Mach Works Ltd Ｎｃ装置におけるｎｃプログラム作成方式
DE3640987C1 (de) * 1986-12-01 1993-04-29 Agie Ag Ind Elektronik Numerisches Steuersystem fuer hochdynamische Prozesse
US4872105A (en) * 1987-03-09 1989-10-03 Vectorvision Corporation Curve following apparatus

Also Published As

Publication number Publication date
EP0400154A1 (de) 1990-12-05
EP0400154B1 (de) 1996-04-17
WO1990006836A1 (en) 1990-06-28
US5136223A (en) 1992-08-04
JPH02160487A (ja) 1990-06-20
DE68926292T2 (de) 1996-09-19
EP0400154A4 (en) 1993-04-14

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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