DE69216814T2 - Verfahren zum steuern eines roboters - Google Patents

Verfahren zum steuern eines roboters

Info

Publication number
DE69216814T2
DE69216814T2 DE69216814T DE69216814T DE69216814T2 DE 69216814 T2 DE69216814 T2 DE 69216814T2 DE 69216814 T DE69216814 T DE 69216814T DE 69216814 T DE69216814 T DE 69216814T DE 69216814 T2 DE69216814 T2 DE 69216814T2
Authority
DE
Germany
Prior art keywords
robot
controlling
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
DE69216814T
Other languages
English (en)
Other versions
DE69216814D1 (de
Inventor
Shuichi Tounai
Masanori Nishi
Kunihiro Okamura
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 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 Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Publication of DE69216814D1 publication Critical patent/DE69216814D1/de
Application granted granted Critical
Publication of DE69216814T2 publication Critical patent/DE69216814T2/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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39179—Of movement after lock stop by small movement against load, stop again
    • 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
    • G05B2219/42231—Detent, stop lock, current through motor in stop, locked, hold, blocked position
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49289—Large transmission ratio

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
DE69216814T 1991-11-22 1992-11-19 Verfahren zum steuern eines roboters Expired - Lifetime DE69216814T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP03307651A JP3125946B2 (ja) 1991-11-22 1991-11-22 ロボットの制御方法
PCT/JP1992/001512 WO1993009920A1 (en) 1991-11-22 1992-11-19 Robot control method and apparatus

Publications (2)

Publication Number Publication Date
DE69216814D1 DE69216814D1 (de) 1997-02-27
DE69216814T2 true DE69216814T2 (de) 1997-05-07

Family

ID=17971610

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69216814T Expired - Lifetime DE69216814T2 (de) 1991-11-22 1992-11-19 Verfahren zum steuern eines roboters

Country Status (6)

Country Link
US (1) US5448144A (de)
EP (1) EP0573655B1 (de)
JP (1) JP3125946B2 (de)
KR (1) KR100236592B1 (de)
DE (1) DE69216814T2 (de)
WO (1) WO1993009920A1 (de)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3616759B2 (ja) * 2001-10-19 2005-02-02 ファナック株式会社 重力軸の落下を防止するサーボモータ制御装置
US20060287672A1 (en) * 2005-06-15 2006-12-21 Western Clinical Engineering Ltd. Tourniquet cuff with improved pneumatic passageway
JP4492573B2 (ja) * 2006-03-27 2010-06-30 トヨタ自動車株式会社 ロボットとロボットの動作制御方法
JP5443782B2 (ja) * 2009-02-24 2014-03-19 川崎重工業株式会社 ロボット、電流制限装置及び電流制限方法
JP5618290B2 (ja) * 2010-07-14 2014-11-05 トヨタ自動車株式会社 ロボット装置
JP5617437B2 (ja) * 2010-08-27 2014-11-05 株式会社デンソーウェーブ 産業機器の回転関節制御装置
WO2019100249A1 (zh) * 2017-11-22 2019-05-31 深圳市大疆创新科技有限公司 云台的控制方法、云台以及无人飞行器
CN112171674B (zh) * 2020-09-25 2022-11-11 苏州微创畅行机器人有限公司 一种柔性机械臂的控制方法及机器人系统
CN115175854A (zh) * 2020-11-24 2022-10-11 深圳市大疆创新科技有限公司 云台和飞行器的协同控制方法和系统
JP7489591B1 (ja) 2022-07-29 2024-05-24 パナソニックＩｐマネジメント株式会社 ロボットの制御方法及びロボットの制御装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5556961A (en) * 1978-10-20 1980-04-26 Hitachi Ltd Compensatory control method of hydraulic elevator position
JPS58154009A (ja) * 1982-03-08 1983-09-13 Fanuc Ltd 加減速制御方式
US4591944A (en) * 1984-09-10 1986-05-27 Gmf Robotics Corporation Electronic circuit for tactile sensors
JPS61109691A (ja) * 1984-11-02 1986-05-28 株式会社日立製作所 ロボツトの力帰還方法および装置
US4980839A (en) * 1989-02-03 1990-12-25 Matsushita Electric Industrial Co., Ltd. Method for detecting original position of robot arm for alignment
GB2241664B (en) * 1989-11-24 1993-09-22 Hilltop Sections Limited Power press
JPH03178788A (ja) * 1989-12-06 1991-08-02 Hitachi Ltd マニピュレータの制御方法

Also Published As

Publication number Publication date
EP0573655B1 (de) 1997-01-15
WO1993009920A1 (en) 1993-05-27
EP0573655A4 (en) 1994-06-15
JP3125946B2 (ja) 2001-01-22
US5448144A (en) 1995-09-05
EP0573655A1 (de) 1993-12-15
DE69216814D1 (de) 1997-02-27
KR930703120A (ko) 1993-11-29
JPH05138562A (ja) 1993-06-01
KR100236592B1 (ko) 2000-04-01

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Legal Events

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8364 No opposition during term of opposition