DE69011355D1 - Steuerung des Betriebs eines Roboterarms. - Google Patents

Steuerung des Betriebs eines Roboterarms.

Info

Publication number
DE69011355D1
DE69011355D1 DE69011355T DE69011355T DE69011355D1 DE 69011355 D1 DE69011355 D1 DE 69011355D1 DE 69011355 T DE69011355 T DE 69011355T DE 69011355 T DE69011355 T DE 69011355T DE 69011355 D1 DE69011355 D1 DE 69011355D1
Authority
DE
Germany
Prior art keywords
control
robotic arm
robotic
arm
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
DE69011355T
Other languages
English (en)
Other versions
DE69011355T2 (de
Inventor
Hiroshi Ishikawa
Kei Kawase
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.)
International Business Machines Corp
Original Assignee
International Business Machines 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 International Business Machines Corp filed Critical International Business Machines Corp
Publication of DE69011355D1 publication Critical patent/DE69011355D1/de
Application granted granted Critical
Publication of DE69011355T2 publication Critical patent/DE69011355T2/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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
DE69011355T 1989-02-10 1990-02-07 Steuerung des Betriebs eines Roboterarms. Expired - Fee Related DE69011355T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1029713A JPH0790483B2 (ja) 1989-02-10 1989-02-10 コンプライアンス制御方法及びシステム

Publications (2)

Publication Number Publication Date
DE69011355D1 true DE69011355D1 (de) 1994-09-15
DE69011355T2 DE69011355T2 (de) 1995-04-27

Family

ID=12283750

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69011355T Expired - Fee Related DE69011355T2 (de) 1989-02-10 1990-02-07 Steuerung des Betriebs eines Roboterarms.

Country Status (4)

Country Link
US (1) US5023533A (de)
EP (1) EP0382517B1 (de)
JP (1) JPH0790483B2 (de)
DE (1) DE69011355T2 (de)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69033605T2 (de) * 1989-05-17 2001-08-16 Fujitsu Ltd Profilsteuerungssystem für Roboter
JP2834832B2 (ja) * 1990-03-15 1998-12-14 松下電工株式会社 姿勢制御装置
US5180955A (en) * 1990-10-11 1993-01-19 International Business Machines Corporation Positioning apparatus
DE4108939A1 (de) * 1991-03-19 1992-09-24 Bodenseewerk Geraetetech Verfahren zum kalibrieren von hochgenauen robotern
US5402049A (en) * 1992-12-18 1995-03-28 Georgia Tech Research Corporation System and method for controlling a variable reluctance spherical motor
US5410232A (en) * 1992-12-18 1995-04-25 Georgia Tech Research Corporation Spherical motor and method
US5336982A (en) * 1993-03-24 1994-08-09 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Dual-arm generalized compliant motion with shared control
JP3319030B2 (ja) * 1993-05-18 2002-08-26 株式会社日立製作所 磁気軸受の制御装置およびそれを用いた回転機械
CA2103626A1 (en) * 1993-08-09 1995-02-10 Septimiu Edmund Salcudean Motion scaling tele-operating system with force feedback suitable for microsurgery
JP3350310B2 (ja) * 1995-08-22 2002-11-25 株式会社荏原製作所 ロボットアームのリニアアクチュエータ
US5765975A (en) * 1996-09-05 1998-06-16 Abb Flexible Automation, Inc. Compliant end effector for an industrial robot
US6064168A (en) * 1998-03-13 2000-05-16 Fanuc Robotics North America, Inc. Method of controlling robot movement
JP3187799B2 (ja) * 1999-12-27 2001-07-11 川崎重工業株式会社 自動探り組立作業方法および装置
US20030132726A1 (en) * 2001-10-16 2003-07-17 Dohring Mark E. Admittance enhancement in force feedback of dynamic systems
KR100454714B1 (ko) 2002-02-16 2004-11-05 한국과학기술연구원 작업용 로봇, 작업용 로봇을 위한 액츄에이터 및 작업용 로봇의 제어방법
DE10223670A1 (de) * 2002-05-28 2003-12-18 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Bewegen eines Handhabungssystems
KR100561862B1 (ko) * 2004-02-11 2006-03-16 삼성전자주식회사 가속도 센서를 이용한 진동 제어 방법 및 장치
CN113997317B (zh) * 2021-12-29 2023-10-13 南京邮电大学 基于事件触发机制的三连杆机械手执行器故障检测方法

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
US4603284A (en) * 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
US4733149A (en) * 1985-05-31 1988-03-22 Kollmorgen Technologies Corporation Adaptive control system
JPS62125410A (ja) * 1985-11-26 1987-06-06 Nippon Telegr & Teleph Corp <Ntt> ロボツトの制御方式
US4727303A (en) * 1986-05-22 1988-02-23 Gmf Robotics Corporation Positional control method and system utilizing same
JP2638594B2 (ja) * 1986-11-08 1997-08-06 フアナツク株式会社 デイジタルサーボシステム
US4843293A (en) * 1987-02-02 1989-06-27 Research Development Corporation Apparatus for controlling servo system employing piezo-electric actuator
JPS63237103A (ja) * 1987-03-25 1988-10-03 Matsushita Electric Ind Co Ltd ロボツト制御装置
US4860215A (en) * 1987-04-06 1989-08-22 California Institute Of Technology Method and apparatus for adaptive force and position control of manipulators
US4874998A (en) * 1987-06-11 1989-10-17 International Business Machines Corporation Magnetically levitated fine motion robot wrist with programmable compliance
US4814680A (en) * 1987-08-21 1989-03-21 Sundstrand Corporation Servo loop control for a coriolis rate sensor dither drive

Also Published As

Publication number Publication date
JPH02212086A (ja) 1990-08-23
EP0382517B1 (de) 1994-08-10
JPH0790483B2 (ja) 1995-10-04
EP0382517A2 (de) 1990-08-16
US5023533A (en) 1991-06-11
EP0382517A3 (en) 1990-12-12
DE69011355T2 (de) 1995-04-27

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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