DE69317941D1 - Roboter zur Bewegungsführung und zugehöriges Steuerungsverfahren - Google Patents

Roboter zur Bewegungsführung und zugehöriges Steuerungsverfahren

Info

Publication number
DE69317941D1
DE69317941D1 DE69317941T DE69317941T DE69317941D1 DE 69317941 D1 DE69317941 D1 DE 69317941D1 DE 69317941 T DE69317941 T DE 69317941T DE 69317941 T DE69317941 T DE 69317941T DE 69317941 D1 DE69317941 D1 DE 69317941D1
Authority
DE
Germany
Prior art keywords
robot
control process
control
motion
motion control
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
DE69317941T
Other languages
English (en)
Other versions
DE69317941T2 (de
Inventor
Stephane Lavallee
Jocelyne Troccaz
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.)
Universite Joseph Fourier Grenoble 1
Original Assignee
Universite Joseph Fourier Grenoble 1
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 Universite Joseph Fourier Grenoble 1 filed Critical Universite Joseph Fourier Grenoble 1
Publication of DE69317941D1 publication Critical patent/DE69317941D1/de
Application granted granted Critical
Publication of DE69317941T2 publication Critical patent/DE69317941T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program 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
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • 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
    • G05B2219/49137—Store working envelop, limit, allowed zone
    • 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
    • G05B2219/49141—Detect near collision and slow, stop, inhibit movement tool

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
DE69317941T 1992-05-12 1993-05-10 Roboter zur Bewegungsführung und zugehöriges Steuerungsverfahren Expired - Lifetime DE69317941T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9206150A FR2691093B1 (fr) 1992-05-12 1992-05-12 Robot de guidage de gestes et procede de commande.

Publications (2)

Publication Number Publication Date
DE69317941D1 true DE69317941D1 (de) 1998-05-20
DE69317941T2 DE69317941T2 (de) 1998-11-19

Family

ID=9429993

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69317941T Expired - Lifetime DE69317941T2 (de) 1992-05-12 1993-05-10 Roboter zur Bewegungsführung und zugehöriges Steuerungsverfahren

Country Status (4)

Country Link
US (1) US5399951A (de)
EP (1) EP0574330B1 (de)
DE (1) DE69317941T2 (de)
FR (1) FR2691093B1 (de)

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Also Published As

Publication number Publication date
US5399951A (en) 1995-03-21
EP0574330A1 (de) 1993-12-15
DE69317941T2 (de) 1998-11-19
FR2691093B1 (fr) 1996-06-14
FR2691093A1 (fr) 1993-11-19
EP0574330B1 (de) 1998-04-15

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