DE69012000T2 - System zum Messen der absoluten Position eines Industrieroboters. - Google Patents

System zum Messen der absoluten Position eines Industrieroboters.

Info

Publication number
DE69012000T2
DE69012000T2 DE69012000T DE69012000T DE69012000T2 DE 69012000 T2 DE69012000 T2 DE 69012000T2 DE 69012000 T DE69012000 T DE 69012000T DE 69012000 T DE69012000 T DE 69012000T DE 69012000 T2 DE69012000 T2 DE 69012000T2
Authority
DE
Germany
Prior art keywords
measuring
absolute position
industrial robot
robot
industrial
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
DE69012000T
Other languages
English (en)
Other versions
DE69012000D1 (de
Inventor
Anders Holmar
Einar Myklebust
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.)
ABB AB
Original Assignee
Asea Brown Boveri AB
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 Asea Brown Boveri AB filed Critical Asea Brown Boveri AB
Publication of DE69012000D1 publication Critical patent/DE69012000D1/de
Application granted granted Critical
Publication of DE69012000T2 publication Critical patent/DE69012000T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • 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
    • G05B2219/37478—Excitation of resolver by pulses instead of continuous wave, to save energy
    • 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
    • G05B2219/37487—Counter combined with angle to digital convertor
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42264—Slow down sampling if power down is detected
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50077—Keep position by switching over to auxiliary power supply for resolver, encoder
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50078—Single battery backup for all axis, encoders, resolvers
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50084—Keep position, setup parameters in memory

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
DE69012000T 1989-07-04 1990-06-30 System zum Messen der absoluten Position eines Industrieroboters. Expired - Lifetime DE69012000T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE8902416A SE8902416L (sv) 1989-07-04 1989-07-04 Absolutmaetande laegesgivarutrustning foer industrirobot

Publications (2)

Publication Number Publication Date
DE69012000D1 DE69012000D1 (de) 1994-10-06
DE69012000T2 true DE69012000T2 (de) 1995-05-04

Family

ID=20376471

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69012000T Expired - Lifetime DE69012000T2 (de) 1989-07-04 1990-06-30 System zum Messen der absoluten Position eines Industrieroboters.

Country Status (4)

Country Link
US (1) US5092051A (de)
EP (1) EP0406740B1 (de)
DE (1) DE69012000T2 (de)
SE (1) SE8902416L (de)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0479525A3 (de) * 1990-10-01 1994-10-12 Yaskawa Denki Seisakusho Kk Gerät zum Messen der absoluten Position mittels eines Resolvers mit Speichermittel gegen Netzausfall.
JP2697399B2 (ja) * 1991-09-13 1998-01-14 三菱電機株式会社 位置決め装置及びそのプログラム表示方法
US5198739A (en) * 1992-01-30 1993-03-30 Siemens Industrial Automation, Inc. Software controllable circuit for resolver excitation switching in a motion control system
US5204603A (en) * 1992-01-30 1993-04-20 Siemens Industrial Automation, Inc. Open circuit detection for a pulsed resolver position sensing system
US5323309A (en) * 1992-01-30 1994-06-21 Siemens Industrial Automation, Inc. Algorithm for optimizing data sampling in a discrete periodic system with a bounded rate of change for the discrete system periods
US5229697A (en) * 1992-01-30 1993-07-20 Siemens Industrial Automation, Inc. Sampling bipolar peak detector for sensing a non-symmetrical decay of an AC voltage signal
US5200683A (en) * 1992-01-30 1993-04-06 Siemens Industrial Automation, Inc. Method for optimizing sampling rates for position tracking for motion control systems
US5198735A (en) * 1992-01-30 1993-03-30 Siemens Industrial Automation, Inc. Method for eliminating position tracking errors in the presence of resolver excitation errors for motion control systems
US5374883A (en) * 1992-09-02 1994-12-20 Cincinnati Milacron Inc. Method and apparatus for position error compensation
DE4437793C2 (de) * 1994-10-21 1998-05-07 Agie Ag Ind Elektronik Verfahren und Vorrichtung zur Steuerung eines Elektromotors
DE60314598T2 (de) * 2002-02-14 2007-10-25 Faro Technologies, Inc., Lake Mary Ein gelenkarm für eine tragbare koordinatenmessmaschine
DE10312045B4 (de) * 2003-03-18 2014-07-31 Anton Rodi Messsystem zur Absolutwerterfassung von Winkeln und Wegen
DE102006046531A1 (de) * 2006-09-29 2008-04-03 Dr. Johannes Heidenhain Gmbh Drehgeber und Verfahren zu dessen Betrieb
DE102007036542A1 (de) * 2007-08-02 2009-02-05 Dr. Johannes Heidenhain Gmbh Positionsmessgerät und Verfahren zur Übertragung einer Bewegungsinformation
CN104755883B (zh) * 2012-11-19 2016-12-14 Abb技术有限公司 解角器定位系统、机器人及其方法
DE102014002670B4 (de) * 2014-02-28 2017-01-19 gomtec GmbH Drehwinkelgeber und Verfahren zum Erfassen einer Winkellage
JP2016078211A (ja) * 2014-10-22 2016-05-16 セイコーエプソン株式会社 ロボット
JP2017039182A (ja) * 2015-08-19 2017-02-23 セイコーエプソン株式会社 ロボット制御装置、ロボット、ロボットシステム

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5850362B2 (ja) * 1976-03-30 1983-11-10 富士通フアナツク株式会社 位置決め方式
JPS59188518A (ja) * 1983-04-11 1984-10-25 Fanuc Ltd サ−ボ制御系の絶対位置検出方式
US4676002A (en) * 1984-06-25 1987-06-30 Slocum Alexander H Mechanisms to determine position and orientation in space
GB2164752B (en) * 1984-09-22 1987-12-16 Wiederaufarbeitung Von Kernbre Monitoring remotely operable remote handling apparatus
US4672279A (en) * 1984-10-11 1987-06-09 Kabushiki Kaisha Toshiba Robot joint angle detecting system
JPS61120903A (ja) * 1984-11-19 1986-06-09 Sumitomo Electric Ind Ltd 角度検出回路
DE3834384A1 (de) * 1988-10-10 1990-04-12 Lenze Gmbh & Co Kg Aerzen Verfahren und schaltungsanordnung zur erzeugung von digitalen drehzahl- und drehwinkelinformationen mittels eines funktionsdrehmelders

Also Published As

Publication number Publication date
DE69012000D1 (de) 1994-10-06
SE8902416L (sv) 1991-01-05
SE8902416D0 (sv) 1989-07-04
US5092051A (en) 1992-03-03
EP0406740A1 (de) 1991-01-09
EP0406740B1 (de) 1994-08-31

Similar Documents

Publication Publication Date Title
DE69012000T2 (de) System zum Messen der absoluten Position eines Industrieroboters.
DE68908347D1 (de) Messen der form eines objektes.
DE69028076D1 (de) Messrobotersystem
DE69005106D1 (de) Anordnung zum erstellen oder bestimmen der ortung eines messpunktes.
DE69203522D1 (de) Verfahren zum dimensionalen Messen von beweglichen Gegenständen.
DE68927868D1 (de) Vorrichtumg zur bestätigung der betriebsfähigkeit eines industriellen roboters
DE3684594D1 (de) Verfahren und vorrichtung zum messen der blickrichtung.
DE59307200D1 (de) Vorrichtung zum Erfassen der Bewegung eines bewegbaren Teils
DE69405346D1 (de) Vorrichtung zum Messen der Radgeschwindigkeit
DE3865991D1 (de) Verfahren zum messen der oberflaechentemperatur eines sensors.
DE69025576D1 (de) System zum Lernen eines externen Auswertungsstandards
DE69429035D1 (de) Apparat zum Messen einer ringförmigen Distanz
DE69310651T2 (de) Verfahren zum Feststellen der Nullpunkte von Positionsgebern
DE69007076T2 (de) Induktiver Sensor und Vorrichtung zum messen der Verschiebung eines mobilen Gegenstandes.
DE4499620T1 (de) Vorrichtung zum Bestimmen der Position eines Bewegungskörpers
DE69000564T2 (de) Optisches system zum messen von linear- oder winkelaenderungen.
DE69024295T2 (de) System für Industrierroboter
DE69105119T2 (de) Einrichtung zur messung der absoluten position.
DE69309601D1 (de) Sensor zum Messen der Winkelverschiebung eines sich bewegenden Gegenstandes
NO178315C (no) Måleapparat for hydrauliske/pneumatiske systemer
DE3587320T2 (de) Vorrichtung zum nachweis der absoluten stellung eines servoregelsystems.
DE59008008D1 (de) Geber zum Messen mechanischer Kräfte.
DE59106127D1 (de) Multimeter zum wahlweisen Messen unterschiedlicher Messgrössen.
DE69521940D1 (de) Kodierer zum Messen der Relativbewegung zwischen zwei Objekten
DE69103697T2 (de) Vorrichtung zum Messen der Grösse der Lageabweichung eines Aufzeichnungsbogens.

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8328 Change in the person/name/address of the agent

Representative=s name: HANSMANN & VOGESER, 81369 MUENCHEN