DE69218401D1 - Verfahren zur korrektur des kopfendes des werkzeuges - Google Patents

Verfahren zur korrektur des kopfendes des werkzeuges

Info

Publication number
DE69218401D1
DE69218401D1 DE69218401T DE69218401T DE69218401D1 DE 69218401 D1 DE69218401 D1 DE 69218401D1 DE 69218401 T DE69218401 T DE 69218401T DE 69218401 T DE69218401 T DE 69218401T DE 69218401 D1 DE69218401 D1 DE 69218401D1
Authority
DE
Germany
Prior art keywords
correcting
tool
head
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
DE69218401T
Other languages
English (en)
Other versions
DE69218401T2 (de
Inventor
Tatsuo Karakama
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 DE69218401D1 publication Critical patent/DE69218401D1/de
Publication of DE69218401T2 publication Critical patent/DE69218401T2/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
    • G05B19/18—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
    • G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • G05B2219/37251—Selfcorrecting, counter for tool life adapts correction
    • 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

Landscapes

  • Engineering & 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)
  • Manipulator (AREA)
  • Numerical Control (AREA)
DE69218401T 1991-10-16 1992-10-12 Verfahren zur korrektur des kopfendes des werkzeuges Expired - Fee Related DE69218401T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP26768391A JP3230826B2 (ja) 1991-10-16 1991-10-16 スポット溶接ガンの位置補正方法及びロボット溶接装置
PCT/JP1992/001328 WO1993007998A1 (en) 1991-10-16 1992-10-12 Method of correcting position of forward end of tool

Publications (2)

Publication Number Publication Date
DE69218401D1 true DE69218401D1 (de) 1997-04-24
DE69218401T2 DE69218401T2 (de) 1997-06-26

Family

ID=17448084

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69218401T Expired - Fee Related DE69218401T2 (de) 1991-10-16 1992-10-12 Verfahren zur korrektur des kopfendes des werkzeuges

Country Status (6)

Country Link
US (1) US5451850A (de)
EP (1) EP0565737B1 (de)
JP (1) JP3230826B2 (de)
KR (1) KR960010445B1 (de)
DE (1) DE69218401T2 (de)
WO (1) WO1993007998A1 (de)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3665353B2 (ja) * 1993-09-14 2005-06-29 ファナック株式会社 ロボットの教示位置データの３次元位置補正量取得方法及びロボットシステム
JP3681431B2 (ja) * 1995-02-21 2005-08-10 ファナック株式会社 直交座標系上で柔らかさが調節可能なサーボ系
JP3497031B2 (ja) * 1995-03-07 2004-02-16 日立建機株式会社 油圧ポンプ制御装置
JPH0970780A (ja) * 1995-09-06 1997-03-18 Fanuc Ltd ロボットのツール形状補正方式
EP0810497B1 (de) * 1995-12-19 2002-12-18 Hitachi Construction Machinery Co., Ltd. Verfahren zur korrektur des ausgangsignals eines steuergerätes, steuergerät und steuergerät für hydraulikpumpe
US6044310A (en) * 1997-10-21 2000-03-28 Douglass; Thomas E. System for automatic alignment of a workpiece
JP2006099260A (ja) * 2004-09-28 2006-04-13 Fanuc Ltd ロボットプログラム作成装置
JP2006236031A (ja) * 2005-02-25 2006-09-07 Seiko Epson Corp ロボット軌跡制御方法及び装置並びにロボット軌跡制御方法のプログラム
CN101361030B (zh) * 2006-01-14 2012-06-06 通快机床两合公司 轴控制方法
US8725139B2 (en) 2009-09-08 2014-05-13 Movirtu Limited Method and system to enable multiple virtual numbers across different mobile networks
JP2016185572A (ja) * 2015-03-27 2016-10-27 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
DE112021001155T5 (de) * 2020-02-20 2022-12-01 Fanuc Corporation Numerische Steuervorrichtung für Werkzeugmaschine
CN111906766B (zh) * 2020-09-15 2022-01-07 珠海格力智能装备有限公司 工件定位方法及装置、机器人设备、计算机可读存储介质
TW202232266A (zh) * 2021-01-29 2022-08-16 日商發那科股份有限公司 程式評價裝置與教示裝置

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3860779A (en) * 1972-03-22 1975-01-14 Charmilles Sa Ateliers Method and apparatus for positioning an electrode-tool relative to a workpiece in electrical discharge machining
JPS52116983A (en) * 1976-03-25 1977-09-30 Koyo Seiko Co Ltd Automatic method for correcting position of bite with respect to wear of bite
JPS5412085A (en) * 1977-06-29 1979-01-29 Oki Electric Ind Co Ltd Timely controlled data presenting method in nc
JPS5544681A (en) * 1978-09-27 1980-03-29 Fanuc Ltd Tool correction system
JPS59201740A (ja) * 1983-04-25 1984-11-15 Toyoda Mach Works Ltd 自動工具交換方法
JPS59212909A (ja) * 1983-05-17 1984-12-01 Toyoda Mach Works Ltd 工具寸法補正制御装置
JPS6020893A (ja) * 1983-07-15 1985-02-02 新明和工業株式会社 作業工具装置
JPS6129908A (ja) * 1984-07-20 1986-02-12 Matsushita Electric Ind Co Ltd 数値制御工作機械の工具位置補正方法
JPS6190205A (ja) * 1984-10-09 1986-05-08 Komatsu Ltd ロボツトの絶対位置決め誤差補償方法
JPS61233806A (ja) * 1985-04-08 1986-10-18 Mitsubishi Electric Corp 産業用ロボツト
JPS6242941U (de) * 1985-09-04 1987-03-14
JPS62206606A (ja) * 1986-03-07 1987-09-11 Nec Corp 工具摩耗量の補正方法
JPH08384B2 (ja) * 1987-09-16 1996-01-10 ファナック株式会社 ツール先端点の自動設定方式
US4986724A (en) * 1987-11-10 1991-01-22 Cincinnati Milacron Inc. System for compensated motion of coupled robot axes
JPH01132343A (ja) * 1987-11-16 1989-05-24 Daiichi Kasei:Kk 畜肉・水産加工品
CS270004B1 (en) * 1987-12-12 1990-06-13 Valenta Jiri Method of cutting process trajectory adaptive control and device for realization of this method
JPH01132343U (de) * 1988-03-01 1989-09-08
US4969108A (en) * 1988-04-08 1990-11-06 Cincinnati Milacron Inc. Vision seam tracking method and apparatus for a manipulator
JPH0373253A (ja) * 1989-04-11 1991-03-28 Nippondenso Co Ltd 工具摩耗補正方法
US4990743A (en) * 1989-05-10 1991-02-05 Daihen Corporation Control method for tracing a weld line in a welding apparatus
JPH033760A (ja) * 1989-05-30 1991-01-09 Fanuc Ltd デジタイジング制御装置

Also Published As

Publication number Publication date
WO1993007998A1 (en) 1993-04-29
DE69218401T2 (de) 1997-06-26
US5451850A (en) 1995-09-19
KR930703122A (ko) 1993-11-29
JPH05108123A (ja) 1993-04-30
JP3230826B2 (ja) 2001-11-19
EP0565737B1 (de) 1997-03-19
KR960010445B1 (ko) 1996-08-01
EP0565737A4 (en) 1994-07-27
EP0565737A1 (de) 1993-10-20

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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