DE69032398T2 - Robotersteuerungsverfahren - Google Patents

Robotersteuerungsverfahren

Info

Publication number
DE69032398T2
DE69032398T2 DE69032398T DE69032398T DE69032398T2 DE 69032398 T2 DE69032398 T2 DE 69032398T2 DE 69032398 T DE69032398 T DE 69032398T DE 69032398 T DE69032398 T DE 69032398T DE 69032398 T2 DE69032398 T2 DE 69032398T2
Authority
DE
Germany
Prior art keywords
control method
robot control
robot
control
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
DE69032398T
Other languages
English (en)
Other versions
DE69032398D1 (de
Inventor
Yoshikatsu Yahata Plant Minami
Masato Yahata Plant K K Tanaka
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.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Manufacturing 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
Application filed by Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Manufacturing Co Ltd
Publication of DE69032398D1 publication Critical patent/DE69032398D1/de
Application granted granted Critical
Publication of DE69032398T2 publication Critical patent/DE69032398T2/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
    • G05B19/42—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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36446—Keep tool stationary, move workpiece
    • 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
    • G05B2219/36448—Teaching, consider workpoint on workpiece temporarily as tip of 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
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot
    • 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
    • G05B2219/50353—Tool, probe inclination, orientation to surface, posture, attitude
DE69032398T 1989-08-29 1990-08-27 Robotersteuerungsverfahren Expired - Fee Related DE69032398T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP1223986A JP2979552B2 (ja) 1989-08-29 1989-08-29 ロボットの制御方法
PCT/JP1990/001082 WO1991003779A1 (en) 1989-08-29 1990-08-27 Robot control method

Publications (2)

Publication Number Publication Date
DE69032398D1 DE69032398D1 (de) 1998-07-16
DE69032398T2 true DE69032398T2 (de) 1999-03-25

Family

ID=16806791

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69032398T Expired - Fee Related DE69032398T2 (de) 1989-08-29 1990-08-27 Robotersteuerungsverfahren

Country Status (5)

Country Link
US (1) US5222199A (de)
EP (1) EP0440816B1 (de)
JP (1) JP2979552B2 (de)
DE (1) DE69032398T2 (de)
WO (1) WO1991003779A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013007742B4 (de) 2012-05-21 2019-12-05 teconsult GmbH precision robotics Verfahren und Vorrichtung zur Wiederherstellung der Betriebsbereitschaft einer mehrachsigen Bewegungseinrichtung
EP3451096B1 (de) * 2017-09-05 2022-02-16 Audi Ag Bearbeitungssystem mit einer auf einem fahrzeug angeordneten aufnahmeeinheit für mindestens ein bauteil und verfahren zum bearbeiten mindestens eines bauteils

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0615589A (ja) * 1992-07-03 1994-01-25 Daihen Corp 産業用ロボット制御装置
EP0671246A3 (de) * 1994-03-09 1998-05-27 Siemens Aktiengesellschaft Greiferbezogenes Handverfahren
JP4700646B2 (ja) * 2007-03-26 2011-06-15 株式会社神戸製鋼所 ワーク位置決め装置の制御装置およびそのプログラム
JP2010023128A (ja) * 2008-07-15 2010-02-04 Yaskawa Electric Corp ロボットシステム

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4456961A (en) * 1982-03-05 1984-06-26 Texas Instruments Incorporated Apparatus for teaching and transforming noncoincident coordinate systems
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
JPS60193016A (ja) * 1984-03-14 1985-10-01 Toyota Motor Corp ロボツト装置
JPS6142004A (ja) * 1984-08-06 1986-02-28 Toyota Central Res & Dev Lab Inc 追従ロボツト装置
JPS61229107A (ja) * 1985-04-04 1986-10-13 Omron Tateisi Electronics Co 自動機械群の協調運転方式
US4817017A (en) * 1985-04-08 1989-03-28 Mitsubishi Denki Kabushiki Kaisha Industrial robot
JPS6244809A (ja) * 1985-08-23 1987-02-26 Hitachi Ltd ロボツト教示方式
JPS63216689A (ja) * 1987-03-04 1988-09-08 株式会社日立製作所 自動作業装置
JP2691985B2 (ja) * 1987-08-04 1997-12-17 ファナック 株式会社 ロボットの軌跡制御方法
JP2572093B2 (ja) * 1987-12-28 1997-01-16 本田技研工業株式会社 ロボットのティーチング方法
JPH079606B2 (ja) * 1988-09-19 1995-02-01 豊田工機株式会社 ロボット制御装置
JP2786225B2 (ja) * 1989-02-01 1998-08-13 株式会社日立製作所 工業用ロボットの制御方法及び装置
US5053976A (en) * 1989-05-22 1991-10-01 Honda Giken Kogyo Kabushiki Kaisha Method of teaching a robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013007742B4 (de) 2012-05-21 2019-12-05 teconsult GmbH precision robotics Verfahren und Vorrichtung zur Wiederherstellung der Betriebsbereitschaft einer mehrachsigen Bewegungseinrichtung
EP3451096B1 (de) * 2017-09-05 2022-02-16 Audi Ag Bearbeitungssystem mit einer auf einem fahrzeug angeordneten aufnahmeeinheit für mindestens ein bauteil und verfahren zum bearbeiten mindestens eines bauteils

Also Published As

Publication number Publication date
JP2979552B2 (ja) 1999-11-15
JPH0385608A (ja) 1991-04-10
US5222199A (en) 1993-06-22
EP0440816A1 (de) 1991-08-14
EP0440816A4 (en) 1994-05-18
DE69032398D1 (de) 1998-07-16
EP0440816B1 (de) 1998-06-10
WO1991003779A1 (en) 1991-03-21

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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