DE69216173D1 - Verfahren zur Anlernung eines Roboter - Google Patents

Verfahren zur Anlernung eines Roboter

Info

Publication number
DE69216173D1
DE69216173D1 DE69216173T DE69216173T DE69216173D1 DE 69216173 D1 DE69216173 D1 DE 69216173D1 DE 69216173 T DE69216173 T DE 69216173T DE 69216173 T DE69216173 T DE 69216173T DE 69216173 D1 DE69216173 D1 DE 69216173D1
Authority
DE
Germany
Prior art keywords
teaching
robot
procedure
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
DE69216173T
Other languages
English (en)
Other versions
DE69216173T2 (de
Inventor
Atsushi Watanabe
Tatsuo Karakama
Taro Arimatsu
Kazuhiko Akiyama
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
Application granted granted Critical
Publication of DE69216173D1 publication Critical patent/DE69216173D1/de
Publication of DE69216173T2 publication Critical patent/DE69216173T2/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
    • G05B19/408—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 data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting programme, configuration
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • 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
    • G05B2219/36405—Adjust path by detecting path, line with a photosensor
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37572—Camera, tv, vision
DE69216173T 1991-01-28 1992-01-23 Verfahren zur Anlernung eines Roboter Expired - Fee Related DE69216173T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP3026820A JP2779072B2 (ja) 1991-01-28 1991-01-28 ロボットの教示方法
PCT/JP1992/000065 WO1992012830A1 (en) 1991-01-28 1992-01-23 Method of teaching robot

Publications (2)

Publication Number Publication Date
DE69216173D1 true DE69216173D1 (de) 1997-02-06
DE69216173T2 DE69216173T2 (de) 1997-04-24

Family

ID=12203915

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69216173T Expired - Fee Related DE69216173T2 (de) 1991-01-28 1992-01-23 Verfahren zur Anlernung eines Roboter

Country Status (6)

Country Link
US (1) US5300868A (de)
EP (1) EP0529077B1 (de)
JP (1) JP2779072B2 (de)
KR (1) KR950005414B1 (de)
DE (1) DE69216173T2 (de)
WO (1) WO1992012830A1 (de)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3529158B2 (ja) * 1994-05-18 2004-05-24 ファナック株式会社 ロボット動作プログラミング方法及びプログラミング装置
JP3418456B2 (ja) * 1994-06-23 2003-06-23 ファナック株式会社 ロボット位置教示具及びロボット位置教示方法
JPH0970780A (ja) * 1995-09-06 1997-03-18 Fanuc Ltd ロボットのツール形状補正方式
US5959425A (en) * 1998-10-15 1999-09-28 Fanuc Robotics North America, Inc. Vision guided automatic robotic path teaching method
JP2006099260A (ja) * 2004-09-28 2006-04-13 Fanuc Ltd ロボットプログラム作成装置
JP4087841B2 (ja) * 2004-12-21 2008-05-21 ファナック株式会社 ロボット制御装置
DE102007008903A1 (de) * 2007-02-23 2008-08-28 Abb Technology Ag Einrichtung zum Steuern eines Roboters
JP4899099B2 (ja) * 2007-03-30 2012-03-21 株式会社小松製作所 作業ロボットの位置計測装置
CN103213126A (zh) * 2013-03-27 2013-07-24 南通航运职业技术学院 用于工业机器人复杂曲线示教的方法和系统
BE1024133A9 (nl) * 2016-04-22 2017-12-19 Flexible Robotic Solutions Bvba Werkwijze en inrichting voor het volgen en behandelen van een oppervlak door een robot
JP6348141B2 (ja) * 2016-04-28 2018-06-27 ファナック株式会社 付加軸の状態が含まれる動作プログラムを表示するロボットの制御装置

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4670849A (en) * 1983-03-31 1987-06-02 Hitachi, Ltd. Position error correcting method and apparatus for industrial robot
JPH0695295B2 (ja) * 1984-03-26 1994-11-24 新明和工業株式会社 産業用ロボットにおける制御方法
JPS60201404A (ja) * 1984-03-26 1985-10-11 Shin Meiwa Ind Co Ltd 産業用ロボツト
US4639878A (en) * 1985-06-04 1987-01-27 Gmf Robotics Corporation Method and system for automatically determining the position and attitude of an object
JPS62108314A (ja) * 1985-11-07 1987-05-19 Mitsubishi Electric Corp ロボツトのオフラインプログラミング装置
JPH0789287B2 (ja) * 1985-11-07 1995-09-27 三菱電機株式会社 ロボットのプログラミング方法
JPH01121904A (ja) * 1987-11-06 1989-05-15 Canon Inc 位置決めデータの補正方法
US4972347A (en) * 1988-10-11 1990-11-20 Cincinnati Milacron Inc. Method and apparatus for determining the correct tool dimensions for a three dimensional tool mounted on a manipulator
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

Also Published As

Publication number Publication date
DE69216173T2 (de) 1997-04-24
EP0529077B1 (de) 1996-12-27
JP2779072B2 (ja) 1998-07-23
EP0529077A1 (de) 1993-03-03
US5300868A (en) 1994-04-05
KR930700262A (ko) 1993-03-13
JPH056214A (ja) 1993-01-14
KR950005414B1 (ko) 1995-05-24
WO1992012830A1 (en) 1992-08-06
EP0529077A4 (en) 1993-03-17

Similar Documents

Publication Publication Date Title
DE69412211D1 (de) Verfahren zur Lageerhaltung eines Satelliten
DE69417323T2 (de) Verfahren zur Optimierung der Bewegung eines Mehr-Achsen-Roboters
DE69208345T2 (de) Verfahren und Vorrichtung zur Sicherung eines Gleiskettengelenks
DE68928724D1 (de) Verfahren und Robotsystem zum Suchen eines bewegenden Objekts
DE69032669T2 (de) Verfahren zur Ansteuerung eines räumlichen Lichtmodulators
DE69214624T2 (de) Verfahren zur diagnostizierung eines echtzeitsensors
DE69129406T2 (de) Verfahren zum korrigieren der abbiegung eines roboters
DE69216173D1 (de) Verfahren zur Anlernung eines Roboter
DE69316175D1 (de) Verfahren zur manuellen dateneingabe bei roboter
DE69306901D1 (de) Verfahren zum Reparieren einer Rohrleitung
DE69310553D1 (de) Vorrichtung zur Korrektur eines Videosignals
DE59402500D1 (de) Verfahren zur Kühlung eines Bauteils
IT1274172B (it) Procedimento per comandare apparecchi misuratori a coordinate
DE59406219D1 (de) Verfahren zur einstellung eines ventils
DE69122784T2 (de) Verfahren und Gerät zur Ablenksteuerung eines Lichtstrahles
DE69208931T2 (de) Verfahren und Vorrichtung zur Dichtung eines Kassettenbodens
DE69207018T2 (de) Verfahren zur Führung eines Roboterarmes durch definieren von Ersatzstrecken
DE69428031D1 (de) Verfahren zur bezeichnung eines gebietes
DE59304473D1 (de) Verfahren zur überwachung eines gebietes
DE69216814D1 (de) Verfahren zum steuern eines roboters
DE69310897D1 (de) Verfahren zur kontinuierlichen aufkohlung eines stahlbandes
DE69221273D1 (de) Verfahren zur Orientierung von Achsen einer Roboterhand mit Versatz
DE69213726D1 (de) Verfahren zur kompensation der antennenbewegung bei einem sonargerät
DE59208579D1 (de) Verfahren zur Erkennung eines Zieles
DE69415166T2 (de) Einrichtung zur entfernten ausführung eines kommandos

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