DE69118793D1 - Weginterpolationsverfahren für Roboter - Google Patents

Weginterpolationsverfahren für Roboter

Info

Publication number
DE69118793D1
DE69118793D1 DE69118793T DE69118793T DE69118793D1 DE 69118793 D1 DE69118793 D1 DE 69118793D1 DE 69118793 T DE69118793 T DE 69118793T DE 69118793 T DE69118793 T DE 69118793T DE 69118793 D1 DE69118793 D1 DE 69118793D1
Authority
DE
Germany
Prior art keywords
robots
interpolation method
path interpolation
path
interpolation
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
DE69118793T
Other languages
English (en)
Other versions
DE69118793T2 (de
Inventor
Toshihiko Nishimura
Masahiko Yomota
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.)
Kobe Steel Ltd
Original Assignee
Kobe Steel 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 Kobe Steel Ltd filed Critical Kobe Steel Ltd
Publication of DE69118793D1 publication Critical patent/DE69118793D1/de
Application granted granted Critical
Publication of DE69118793T2 publication Critical patent/DE69118793T2/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
    • 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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G05B19/4103—Digital interpolation
    • 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
    • G05B2219/34098—Slope fitting, fairing contour, curve fitting, transition
    • 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
    • G05B2219/34175—Overlap, between two blocks, continuous, smooth speed change, movement

Landscapes

  • Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE69118793T 1990-08-30 1991-08-28 Weginterpolationsverfahren für Roboter Expired - Fee Related DE69118793T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2230035A JPH04111006A (ja) 1990-08-30 1990-08-30 ロボットの経路補間方法

Publications (2)

Publication Number Publication Date
DE69118793D1 true DE69118793D1 (de) 1996-05-23
DE69118793T2 DE69118793T2 (de) 1996-09-26

Family

ID=16901549

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69118793T Expired - Fee Related DE69118793T2 (de) 1990-08-30 1991-08-28 Weginterpolationsverfahren für Roboter

Country Status (5)

Country Link
US (1) US5276383A (de)
EP (1) EP0476381B1 (de)
JP (1) JPH04111006A (de)
KR (1) KR940007207B1 (de)
DE (1) DE69118793T2 (de)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4213927A1 (de) * 1992-04-28 1993-11-04 Festo Kg Verfahren zur steuerung einer werkzeugmaschine, insbesondere eine fraesmaschine
US5416716A (en) * 1993-03-30 1995-05-16 Gerber Garment Technology, Inc. Contour builder
US5426722A (en) * 1993-09-09 1995-06-20 Stratasys, Inc. Method for optimizing the motion of a multi-axis robot
US5612187A (en) * 1994-03-22 1997-03-18 Espress Tech, Inc. Clot lysis time determining device and method for determining the time necessary for fluid to lyse a clot, and clot supporter
ATE170992T1 (de) * 1994-09-29 1998-09-15 Siemens Ag Überschleifen mit maximaler achsbeschleunigung
US5740327A (en) * 1994-12-27 1998-04-14 Nec Corporation Method of and apparatus for robot tip trajectory control
JP3037881B2 (ja) * 1995-07-10 2000-05-08 ファナック株式会社 数値制御装置
US7071001B2 (en) 2003-01-10 2006-07-04 Dnk Associates, Inc. System and method for in vitro bleeding time testing
US7248012B2 (en) * 2003-06-02 2007-07-24 Honda Motor Co., Ltd. Teaching data preparing method for articulated robot
US7734387B1 (en) * 2006-03-31 2010-06-08 Rockwell Collins, Inc. Motion planner for unmanned ground vehicles traversing at high speeds in partially known environments
DE102008008341B4 (de) * 2007-02-13 2019-05-02 Sew-Eurodrive Gmbh & Co Kg Verfahren zum Herstellen eines Steuerprogramms
CN101556472B (zh) * 2009-05-13 2010-08-25 中国科学院数学与系统科学研究院 数控系统基于多周期最优拐角的小直线段插补方法
KR101871212B1 (ko) * 2010-11-26 2018-06-27 로제 가부시키가이샤 로봇의 제어 장치 및 제어 방법
EP3750014B1 (de) 2018-02-05 2023-06-07 Create It Real A/S Drucker zum drucken eines dreidimensionalen gegenstandes
CN111966047B (zh) * 2020-08-04 2022-01-28 天津大学 基于三角函数加减速控制的三轴微线段直接速度过渡方法

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3176303D1 (en) * 1980-05-23 1987-08-13 Shin Meiwa Ind Co Ltd Automatic position controlling apparatus
JPS5835607A (ja) * 1981-08-27 1983-03-02 Fanuc Ltd 数値制御装置
DE3277087D1 (en) * 1981-09-24 1987-10-01 Hitachi Ltd Control system for robot hand
JPS58143981A (ja) * 1982-02-19 1983-08-26 株式会社日立製作所 産業用ロボツトの制御方法
JPS58211211A (ja) * 1982-06-01 1983-12-08 Fanuc Ltd 数値制御方式
JPS5927307A (ja) * 1982-08-04 1984-02-13 Hitachi Ltd 経路制御方法及び装置
JPS59106007A (ja) * 1982-12-10 1984-06-19 Toyota Central Res & Dev Lab Inc 多関節型ロボツトの軌跡制御装置
US4672190A (en) * 1984-12-21 1987-06-09 The Gerber Scientific Instrument Company Line following system and process with matrix generating
JPS61156309A (ja) * 1984-12-27 1986-07-16 Toshiba Mach Co Ltd 速度段差平滑機能を備えた数値制御装置
JPS61157909A (ja) * 1984-12-29 1986-07-17 Fanuc Ltd ロボツトの経路誤差補正方式
WO1988001765A1 (en) * 1986-08-29 1988-03-10 Fanuc Ltd Method of preparing nc pert program for laser machining
JP2514191B2 (ja) * 1986-10-15 1996-07-10 フアナツク株式会社 レ−ザ加工用のｎｃパ−トプログラム作成方法
GB8626734D0 (en) * 1986-11-08 1986-12-10 Renishaw Plc Coordinate positioning apparatus
DE3640987C1 (de) * 1986-12-01 1993-04-29 Agie Ag Ind Elektronik Numerisches Steuersystem fuer hochdynamische Prozesse
JPS63273108A (ja) * 1987-04-30 1988-11-10 Fanuc Ltd 速度制御装置
JPS6426911A (en) * 1987-07-23 1989-01-30 Daikin Ind Ltd Locus control method for robot
JPS6427443A (en) * 1987-07-23 1989-01-30 Norikazu Harajiri Preparation of bottled laver using vegetables
JPS6455604A (en) * 1987-08-26 1989-03-02 Fanuc Ltd Nc data generating system for grooving
JPH02199509A (ja) * 1989-01-30 1990-08-07 Fanuc Ltd インボリュート補間速度制御方式

Also Published As

Publication number Publication date
JPH04111006A (ja) 1992-04-13
KR920004098A (ko) 1992-03-27
EP0476381B1 (de) 1996-04-17
US5276383A (en) 1994-01-04
KR940007207B1 (ko) 1994-08-10
EP0476381A1 (de) 1992-03-25
DE69118793T2 (de) 1996-09-26

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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