DE69313590T2 - Verfahren zum Steuern des Betriebs eines Roboterarms - Google Patents

Verfahren zum Steuern des Betriebs eines Roboterarms

Info

Publication number
DE69313590T2
DE69313590T2 DE69313590T DE69313590T DE69313590T2 DE 69313590 T2 DE69313590 T2 DE 69313590T2 DE 69313590 T DE69313590 T DE 69313590T DE 69313590 T DE69313590 T DE 69313590T DE 69313590 T2 DE69313590 T2 DE 69313590T2
Authority
DE
Germany
Prior art keywords
controlling
robotic arm
robotic
arm
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
DE69313590T
Other languages
English (en)
Other versions
DE69313590D1 (de
Inventor
Yasushi - - Mukai
Makoto - - Takahashi
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.)
Panasonic Corp
Original Assignee
Matsushita Electric Industrial 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 Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Application granted granted Critical
Publication of DE69313590D1 publication Critical patent/DE69313590D1/de
Publication of DE69313590T2 publication Critical patent/DE69313590T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/287—Supporting devices for electrode holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • 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
    • 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
    • G05B2219/36441—Follow contour, line with sensor and record points
    • 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
    • G05B2219/37425—Distance, range
    • 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
    • G05B2219/45104—Lasrobot, welding robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
DE69313590T 1992-06-29 1993-06-28 Verfahren zum Steuern des Betriebs eines Roboterarms Expired - Lifetime DE69313590T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP17040292 1992-06-29
PCT/JP1993/000875 WO1994000269A1 (en) 1992-06-29 1993-06-28 Robot for welding

Publications (2)

Publication Number Publication Date
DE69313590D1 DE69313590D1 (de) 1997-10-09
DE69313590T2 true DE69313590T2 (de) 1998-04-02

Family

ID=15904266

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69313590T Expired - Lifetime DE69313590T2 (de) 1992-06-29 1993-06-28 Verfahren zum Steuern des Betriebs eines Roboterarms

Country Status (4)

Country Link
US (1) US5495090A (de)
EP (1) EP0601206B1 (de)
DE (1) DE69313590T2 (de)
WO (1) WO1994000269A1 (de)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3394322B2 (ja) 1994-05-19 2003-04-07 ファナック株式会社 視覚センサを用いた座標系設定方法
JPH08166813A (ja) * 1994-12-14 1996-06-25 Fanuc Ltd ウィービング動作を伴うロボットのトラッキング制御方法
US5729345A (en) * 1996-09-11 1998-03-17 Caterpillar Inc. Apparatus and method for determining distortion of a welded member
JPH1177569A (ja) * 1997-09-10 1999-03-23 Honda Motor Co Ltd オフラインティーチング装置
US6243621B1 (en) * 1998-03-13 2001-06-05 Fanuc Robotics North America, Inc. Method of determining workpiece positions including coordinated motion
US6166506A (en) * 1998-06-19 2000-12-26 Tregaskiss, Ltd. Wireless safety clutch
US6168066B1 (en) * 1999-04-21 2001-01-02 Lockheed Martin Corp. Friction stir conduction controller
KR100621100B1 (ko) * 2000-02-11 2006-09-07 삼성전자주식회사 용접로봇 교시위치 보정방법 및 용접로봇시스템
US6662082B2 (en) * 2000-08-25 2003-12-09 Janome Sewing Machine Co., Ltd. System for operating a robot with easy programming
SE0302092L (sv) * 2003-07-11 2005-01-12 Abb Ab Robotsystem
JP2005196242A (ja) * 2003-12-26 2005-07-21 Fanuc Ltd 倣い加工装置
JP4439940B2 (ja) * 2004-02-19 2010-03-24 タカタ株式会社 エアバッグカバーの製造方法
JP4291382B2 (ja) * 2007-07-31 2009-07-08 ファナック株式会社 接触検知による取り付け誤差の自動補正機能を有する工作機械
US9168613B2 (en) 2010-10-22 2015-10-27 Paul T. Colby Vertical laser cladding system
JP6773084B2 (ja) * 2018-07-02 2020-10-21 株式会社安川電機 動作教示装置、ロボットシステム及び動作教示方法
JP2020049642A (ja) * 2018-09-28 2020-04-02 セイコーエプソン株式会社 制御装置、ロボットシステム、及びロボット
JP7414626B2 (ja) * 2020-04-14 2024-01-16 三菱電機株式会社 ワイヤ送給装置および付加製造装置
CN114472074A (zh) * 2022-01-17 2022-05-13 中国第一汽车股份有限公司 一种机器人涂胶距离自动补偿系统及方法

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4215299A (en) * 1975-05-02 1980-07-29 Minnesota Mining And Manufacturing Company Adaptive path following motion control system for welding head assembly
JPS5415441A (en) * 1977-04-30 1979-02-05 Shin Meiwa Ind Co Ltd Automatic welding machine
CH622292A5 (de) * 1977-09-15 1981-03-31 Bbc Brown Boveri & Cie
DE2829851A1 (de) * 1978-07-07 1980-01-24 Precitec Gmbh Anordnung zur messung des abstands zwischen einem metallischen werkstueck und einem bearbeitungswerkzeug
DE2851063A1 (de) * 1978-11-25 1980-06-04 Cloos Gmbh Carl Vorrichtung zur automatischen fuehrung einer schweisspistole laengs einer vorprogrammierten schweissnaht
JPS5685106A (en) * 1979-12-14 1981-07-11 Hitachi Ltd Robot teaching method
JPS5791877A (en) * 1980-11-28 1982-06-08 Nippon Kokan Kk <Nkk> Rotary arc welding method
JPS5956982A (ja) * 1982-09-27 1984-04-02 Hitachi Zosen Corp ワ−クセンサ
US4590577A (en) * 1982-12-01 1986-05-20 Yaskawa Electric Mfg. Co., Ltd. Welding robot controlling method
JPS60136806A (ja) * 1983-12-26 1985-07-20 Agency Of Ind Science & Technol ロボツト作業教示装置
JPS61249667A (ja) * 1985-04-26 1986-11-06 Nippon Kokan Kk <Nkk> 高速回転ア−ク隅肉自動溶接方法
KR900003972B1 (ko) * 1985-04-30 1990-06-07 닛뽕 고오깡 가부시기가이샤 고속회전 아아크 필릿(fillet)용접의 그루우브 트레이싱(GROOVE TRACING) 제어방법
JP2615055B2 (ja) * 1987-06-29 1997-05-28 三菱重工業株式会社 ハフ変換装置
ATE75034T1 (de) * 1987-11-27 1992-05-15 Schmall Karl Heinz Verwendung eines dielektrischen mikrowellenresonators und sensorschaltung.

Also Published As

Publication number Publication date
EP0601206B1 (de) 1997-09-03
WO1994000269A1 (en) 1994-01-06
EP0601206A1 (de) 1994-06-15
US5495090A (en) 1996-02-27
EP0601206A4 (de) 1994-11-17
DE69313590D1 (de) 1997-10-09

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8327 Change in the person/name/address of the patent owner

Owner name: PANASONIC CORP., KADOMA, OSAKA, JP

8320 Willingness to grant licences declared (paragraph 23)