DE69417323D1 - Verfahren zur Optimierung der Bewegung eines Mehr-Achsen-Roboters - Google Patents

Verfahren zur Optimierung der Bewegung eines Mehr-Achsen-Roboters

Info

Publication number
DE69417323D1
DE69417323D1 DE69417323T DE69417323T DE69417323D1 DE 69417323 D1 DE69417323 D1 DE 69417323D1 DE 69417323 T DE69417323 T DE 69417323T DE 69417323 T DE69417323 T DE 69417323T DE 69417323 D1 DE69417323 D1 DE 69417323D1
Authority
DE
Germany
Prior art keywords
optimizing
movement
axis robot
robot
axis
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
DE69417323T
Other languages
English (en)
Other versions
DE69417323T2 (de
Inventor
John Sam Batchelder
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.)
Stratasys Inc
Original Assignee
Stratasys Inc
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 Stratasys Inc filed Critical Stratasys Inc
Application granted granted Critical
Publication of DE69417323D1 publication Critical patent/DE69417323D1/de
Publication of DE69417323T2 publication Critical patent/DE69417323T2/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—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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G05B19/4103—Digital interpolation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y50/00—Data acquisition or data processing for additive manufacturing
    • B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2948/00—Indexing scheme relating to extrusion moulding
    • B29C2948/92—Measuring, controlling or regulating
    • B29C2948/92504—Controlled parameter
    • B29C2948/92571—Position, e.g. linear or angular
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2948/00—Indexing scheme relating to extrusion moulding
    • B29C2948/92—Measuring, controlling or regulating
    • B29C2948/92504—Controlled parameter
    • B29C2948/9258—Velocity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2948/00—Indexing scheme relating to extrusion moulding
    • B29C2948/92—Measuring, controlling or regulating
    • B29C2948/92504—Controlled parameter
    • B29C2948/9258—Velocity
    • B29C2948/926—Flow or feed rate
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2948/00—Indexing scheme relating to extrusion moulding
    • B29C2948/92—Measuring, controlling or regulating
    • B29C2948/92504—Controlled parameter
    • B29C2948/92809—Particular value claimed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2948/00—Indexing scheme relating to extrusion moulding
    • B29C2948/92—Measuring, controlling or regulating
    • B29C2948/92819—Location or phase of control
    • B29C2948/92857—Extrusion unit
    • B29C2948/92904—Die; Nozzle zone
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2948/00—Indexing scheme relating to extrusion moulding
    • B29C2948/92—Measuring, controlling or regulating
    • B29C2948/92819—Location or phase of control
    • B29C2948/9298—Start-up, shut-down or parameter setting phase; Emergency shut-down; Material change; Test or laboratory equipment or studies
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34132—Choosing largest, major coordinate axis
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40466—Plan for minimum time trajectory, at least one joint maximum torque
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43062—Maximum acceleration, limit
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43201—Limit speed to allowable speed for all axis

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Materials Engineering (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE69417323T 1993-09-09 1994-08-05 Verfahren zur Optimierung der Bewegung eines Mehr-Achsen-Roboters Expired - Lifetime DE69417323T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US08/119,260 US5426722A (en) 1993-09-09 1993-09-09 Method for optimizing the motion of a multi-axis robot

Publications (2)

Publication Number Publication Date
DE69417323D1 true DE69417323D1 (de) 1999-04-29
DE69417323T2 DE69417323T2 (de) 1999-08-26

Family

ID=22383419

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69417323T Expired - Lifetime DE69417323T2 (de) 1993-09-09 1994-08-05 Verfahren zur Optimierung der Bewegung eines Mehr-Achsen-Roboters

Country Status (4)

Country Link
US (1) US5426722A (de)
EP (1) EP0642893B1 (de)
JP (1) JP2801528B2 (de)
DE (1) DE69417323T2 (de)

Families Citing this family (69)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07261821A (ja) * 1994-03-16 1995-10-13 Fanuc Ltd 負荷による撓みを考慮したロボット軌道計画方法
US5740327A (en) * 1994-12-27 1998-04-14 Nec Corporation Method of and apparatus for robot tip trajectory control
DE19600882C1 (de) * 1996-01-12 1997-09-04 Heesemann Juergen Verfahren zur dezentralen Steuerung eines Motorantriebs
US6853877B1 (en) 1996-09-06 2005-02-08 Nomadic Technologies Method and apparatus for mobile robot motion control
US6073056A (en) * 1997-04-08 2000-06-06 Larry J. Winget Method and system for building a data model of a physical part in a data format useful for and reproduction of the part
IL121458A0 (en) * 1997-08-03 1998-02-08 Lipsker Daniel Rapid prototyping
US5920679A (en) * 1997-08-25 1999-07-06 The Research Foundation Of State University Of New York Apparatus and method for computer-aided low-harmonic trajectory planning for computer-controlled machinery
US6358453B1 (en) 1998-04-09 2002-03-19 Prosthetic Design, Inc. Modular distal plate for rapid manufacturing of a prosthetic limb socket
US6212968B1 (en) * 1998-07-29 2001-04-10 Janome Sewing Machine Co., Ltd, SCARA robot
US6028410A (en) * 1999-01-11 2000-02-22 Stratasys, Inc. Resonance detection and resolution
US6054077A (en) * 1999-01-11 2000-04-25 Stratasys, Inc. Velocity profiling in an extrusion apparatus
DE19930087C5 (de) * 1999-06-30 2011-12-01 Inos Automationssoftware Gmbh Verfahren und Vorrichtung zur Regelung der Vorhalteposition eines Manipulators eines Handhabungsgeräts
DE19944607A1 (de) * 1999-09-17 2001-03-22 Isg Ind Steuerungstechnik Gmbh Satzübergreifende Geschwindigkeitsführung bei einer numerisch gesteuerten Werkzeugmaschine oder einem Roboter
EP1226019B1 (de) 1999-11-05 2004-03-03 Z Corporation Verfahren für dreidimensionales drucken
US8806319B1 (en) * 2000-04-12 2014-08-12 Ptc Inc. Method and apparatus for linking non-geometric data to geometric elements of a CAD file independent of the proprietary CAD file format
US6901681B2 (en) * 2001-11-05 2005-06-07 Chrispatrick A. Bueno Siding installation tool, kit and method
US7437201B2 (en) * 2003-01-14 2008-10-14 Cullen Christopher P Electric motor controller
US7776529B2 (en) * 2003-12-05 2010-08-17 Life Technologies Corporation Methine-substituted cyanine dye compounds
KR100586994B1 (ko) * 2004-09-07 2006-06-08 삼성전자주식회사 로봇제어장치 및 그 제어방법
US7236166B2 (en) * 2005-01-18 2007-06-26 Stratasys, Inc. High-resolution rapid manufacturing
JP5306811B2 (ja) * 2005-05-11 2013-10-02 ライフ テクノロジーズ コーポレーション ２本鎖ｄｎａへの高い選択性を有する蛍光化学物質及びそれらの使用
US7369917B2 (en) * 2006-01-17 2008-05-06 National Instruments Corporation System and method for automatic sorting of elements in drawing specifications for efficient tracing using motion control
US7403833B2 (en) * 2006-04-03 2008-07-22 Stratasys, Inc. Method for optimizing spatial orientations of computer-aided design models
US7680555B2 (en) * 2006-04-03 2010-03-16 Stratasys, Inc. Auto tip calibration in an extrusion apparatus
DE102006028327B3 (de) 2006-06-20 2008-01-31 Siemens Ag Robotergesteuerte Aufzeichnungsvorrichtung, insbesondere für die Aufzeichnung von Röntgenbilddaten, sowie zugehöriges Verfahren
US20080006966A1 (en) * 2006-07-07 2008-01-10 Stratasys, Inc. Method for building three-dimensional objects containing metal parts
WO2008073297A2 (en) 2006-12-08 2008-06-19 Z Corporation Three dimensional printing material system and method using peroxide cure
US8167999B2 (en) 2007-01-10 2012-05-01 3D Systems, Inc. Three-dimensional printing material system with improved color, article performance, and ease of use
US7968626B2 (en) 2007-02-22 2011-06-28 Z Corporation Three dimensional printing material system and method using plasticizer-assisted sintering
US8050786B2 (en) * 2007-07-11 2011-11-01 Stratasys, Inc. Method for building three-dimensional objects with thin wall regions
US8858856B2 (en) 2008-01-08 2014-10-14 Stratasys, Inc. Method for building and using three-dimensional objects containing embedded identification-tag inserts
US7917243B2 (en) * 2008-01-08 2011-03-29 Stratasys, Inc. Method for building three-dimensional objects containing embedded inserts
US8070473B2 (en) * 2008-01-08 2011-12-06 Stratasys, Inc. System for building three-dimensional objects containing embedded inserts, and method of use thereof
US20090192644A1 (en) * 2008-01-30 2009-07-30 Meyer Thomas J Method and system for manufacturing an article using portable hand-held tools
US8442661B1 (en) * 2008-11-25 2013-05-14 Anybots 2.0, Inc. Remotely controlled self-balancing robot including a stabilized laser pointer
US8095491B1 (en) * 2008-12-08 2012-01-10 The United States Of America As Represented By The Secretary Of The Navy Optimization technique using heap sort
KR101689793B1 (ko) * 2010-01-25 2017-01-09 삼성전자 주식회사 모터 제어장치 및 모터 제어 방법
WO2011112760A2 (en) * 2010-03-11 2011-09-15 Stratasys, Inc. Optical encoder
US8926484B1 (en) 2010-03-29 2015-01-06 Stratasys, Inc. Head tool changer for use with deposition-based digital manufacturing systems
US8788096B1 (en) 2010-05-17 2014-07-22 Anybots 2.0, Inc. Self-balancing robot having a shaft-mounted head
US8419996B2 (en) 2010-12-22 2013-04-16 Stratasys, Inc. Print head assembly for use in fused deposition modeling system
US8663533B2 (en) 2010-12-22 2014-03-04 Stratasys, Inc. Method of using print head assembly in fused deposition modeling system
US9238329B2 (en) 2010-12-22 2016-01-19 Stratasys, Inc. Voice coil mechanism for use in additive manufacturing system
US8465111B2 (en) 2010-12-22 2013-06-18 Stratasys, Inc. Print head for use in fused deposition modeling system
US8647102B2 (en) 2010-12-22 2014-02-11 Stratasys, Inc. Print head assembly and print head for use in fused deposition modeling system
US9108360B2 (en) 2011-09-23 2015-08-18 Stratasys, Inc. Gantry assembly for use in additive manufacturing system
US9050788B2 (en) 2011-12-22 2015-06-09 Stratasys, Inc. Universal adapter for consumable assembly used with additive manufacturing system
US9073263B2 (en) 2011-12-22 2015-07-07 Stratasys, Inc. Spool assembly for additive manufacturing system, and methods of manufacture and use thereof
US8985497B2 (en) 2011-12-22 2015-03-24 Stratasys, Inc. Consumable assembly with payout tube for additive manufacturing system
US9321608B2 (en) 2011-12-22 2016-04-26 Stratasys, Inc. Spool assembly with locking mechanism for additive manufacturing system, and methods of use thereof
HUP1200012A2 (en) 2012-01-05 2013-07-29 Pazmany Peter Katolikus Egyetem Traction mechanism
US9205690B2 (en) 2012-03-16 2015-12-08 Stratasys, Inc. Automated calibration method for additive manufacturing system, and method of use thereof
US9364986B1 (en) 2012-05-22 2016-06-14 Rapid Prototype and Manufacturing LLC Method for three-dimensional manufacturing and high density articles produced thereby
US11110648B2 (en) * 2012-07-31 2021-09-07 Makerbot Industries, Llc Build material switching
US9090428B2 (en) 2012-12-07 2015-07-28 Stratasys, Inc. Coil assembly having permeable hub
EP3037903A1 (de) * 2014-12-22 2016-06-29 Siemens Aktiengesellschaft Verfahren zum Betrieb eines technischen Systems, Steuerungsvorrichtung, Computerprogrammprodukt sowie ein technisches System
JP6659238B2 (ja) * 2015-05-28 2020-03-04 ライフロボティクス株式会社 ロボット装置及びステッピングモータ制御装置
US10399326B2 (en) 2015-10-30 2019-09-03 Stratasys, Inc. In-situ part position measurement
FR3051782B1 (fr) * 2016-05-24 2018-07-06 Fmc Technologies Sa Dispositif de commande de deplacement, procede et dispositif d'acquisition et de calcul pour celui-ci, ainsi que bras articule de chargement de fluide le comportant.
US10875244B2 (en) 2017-05-17 2020-12-29 Slice Engineering LLC Adaptable high-performance extrusion head for fused filament fabrication systems
CN111819505A (zh) * 2018-02-05 2020-10-23 创真私人有限责任公司 用于打印3d对象的打印机
US11203156B2 (en) 2018-08-20 2021-12-21 NEXA3D Inc. Methods and systems for photo-curing photo-sensitive material for printing and other applications
AU2019377511B2 (en) 2018-11-09 2024-02-01 NEXA3D Inc. Three-dimensional printing system
CA3130312C (en) 2019-03-18 2023-08-01 NEXA3D Inc. Method and system for additive manufacture
US10967573B2 (en) 2019-04-02 2021-04-06 NEXA3D Inc. Tank assembly and components thereof for a 3D printing system
JP6773243B1 (ja) * 2020-03-11 2020-10-21 オムロン株式会社 制御装置、方法およびプログラム
CN114296404A (zh) * 2021-12-18 2022-04-08 成都乐创自动化技术股份有限公司 一种计算五轴点胶机加工轨迹速度的方法
JP2023159641A (ja) * 2022-04-20 2023-11-01 セイコーエプソン株式会社 外部機器からの指令を用いてロボットの経路を生成する経路生成方法、及び、ロボット制御システム
CN116572257B (zh) * 2023-07-13 2023-09-22 湖南尖山智能科技有限责任公司 机械臂控制方法、装置、系统、存储介质及机械臂

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1189959A (en) * 1965-09-03 1970-04-29 Olivetti & Co Spa Improvements in Numerical Control Devices
USRE30132E (en) * 1973-07-09 1979-10-30 Unimation, Inc. Program control system for manipulator
JPS5325779A (en) * 1976-08-23 1978-03-09 Hitachi Seiko Ltd Speed operating method in numeric control unit
JPS57120112A (en) * 1980-12-22 1982-07-27 Fujitsu Ltd Locus control method of arm
US4415967A (en) * 1981-06-02 1983-11-15 Automation Industries, Inc. Multi-axis controller
US4506335A (en) * 1982-06-10 1985-03-19 Cincinnati Milacron Inc. Manipulator with controlled path motion
US4617502A (en) * 1983-06-30 1986-10-14 Hitachi, Ltd. Method and apparatus for controlling a robot hand along a predetermined path
US4623971A (en) * 1983-06-30 1986-11-18 Cincinnati Milacron Inc. Machine control with motor velocity constraint
JPH0799486B2 (ja) * 1984-04-27 1995-10-25 松下電器産業株式会社 角加速度制御方法
US4629860A (en) * 1984-10-30 1986-12-16 Lindbom Torsten H Robotic apparatus and method for automatically moving a tool through three dimensions and manually to an extended position
US4618808A (en) * 1985-01-30 1986-10-21 International Business Machines Corporation Electromagnetic actuator system using stepper motor with closed loop position sensing, electronic commutation and dynamic position and anomaly correction
US4639878A (en) * 1985-06-04 1987-01-27 Gmf Robotics Corporation Method and system for automatically determining the position and attitude of an object
US4749347A (en) * 1985-08-29 1988-06-07 Viljo Valavaara Topology fabrication apparatus
JPS6261104A (ja) * 1985-09-11 1987-03-17 Fanuc Ltd 水平関節型ロボツトの加減速制御方式
JP2580584B2 (ja) * 1986-03-07 1997-02-12 セイコーエプソン株式会社 プリンタのキヤリツジ制御方法
US4829219A (en) * 1986-11-20 1989-05-09 Unimation Inc. Multiaxis robot having improved motion control through variable acceleration/deceleration profiling
US4773025A (en) * 1986-11-20 1988-09-20 Unimation, Inc. Multiaxis robot control having curve fitted path control
US4769583A (en) * 1987-05-01 1988-09-06 General Motors Corporation Motion control system with minimum time path generation
US4843287A (en) * 1987-12-31 1989-06-27 Westinghouse Electric Corp. Path contriving system for look-ahead sensor in a robotic control system
US4925312A (en) * 1988-03-21 1990-05-15 Staubli International Ag Robot control system having adaptive feedforward torque control for improved accuracy
JPH02137006A (ja) * 1988-11-18 1990-05-25 Mitsubishi Electric Corp 速度制御装置
JP2676397B2 (ja) * 1989-01-05 1997-11-12 株式会社エイ・ティ・アール視聴覚機構研究所 動的システムの運動軌道生成方法
JP2742104B2 (ja) * 1989-08-29 1998-04-22 ファナック株式会社 数値制御装置の送り速度制御方法
US5179514A (en) * 1990-08-08 1993-01-12 The Research Foundation Of State University Of New York Method and apparatus for trajectory control of robot manipulators or the like
JPH04111006A (ja) * 1990-08-30 1992-04-13 Kobe Steel Ltd ロボットの経路補間方法
JP2597778B2 (ja) * 1991-01-03 1997-04-09 ストラタシイス，インコーポレイテッド 三次元対象物組み立てシステム及び組み立て方法
DE59105175D1 (de) * 1991-01-18 1995-05-18 Siemens Ag Steuerung zur Bewegungsführung eines Werkzeugs einer numerisch gesteuerten Maschine.
FR2682905B1 (fr) * 1991-10-28 1995-12-01 Commissariat Energie Atomique Procede de generation de trajectoire pour un systeme robotise.

Also Published As

Publication number Publication date
JP2801528B2 (ja) 1998-09-21
EP0642893A2 (de) 1995-03-15
EP0642893A3 (de) 1996-05-01
US5426722A (en) 1995-06-20
DE69417323T2 (de) 1999-08-26
EP0642893B1 (de) 1999-03-24
JPH0784628A (ja) 1995-03-31

Similar Documents

Publication Publication Date Title
DE69417323T2 (de) Verfahren zur Optimierung der Bewegung eines Mehr-Achsen-Roboters
DE69116274D1 (de) Verfahren zur haltesteuerung eines industrieroboters
DE59406372D1 (de) Verfahren zum herstellen eines dredidimensionalen objekts
DE59406504D1 (de) Verfahren zum festwalzen eines bauteils
DE69402530D1 (de) Verfahren zur bestimmung der richtung eines bohrlochs
DE69411854D1 (de) Verfahren zur Herstellung eines hydraulischen Stossdämpfers
DE69402661D1 (de) Verfahren zur verstärkung eines glasgegenstandes
DE69412211D1 (de) Verfahren zur Lageerhaltung eines Satelliten
DE69601567D1 (de) Vorrichtung und verfahren zum steuern der bewegung eines roboters
DE59400189D1 (de) Verfahren zum Herstellen eines Metall-Keramik-Substrates
DE69129406T2 (de) Verfahren zum korrigieren der abbiegung eines roboters
DE69829559D1 (de) Verfahren zur überwachung der steuerung der bewegung eines manipulators
DE68919821D1 (de) Verfahren zur steuerung der werkzeuglage eines roboters.
DE59400559D1 (de) Verfahren zur überprüfung der konvertierungsfähigkeit eines katalysators
DE69430984D1 (de) Verfahren zur Herstellung eines Flächenhaftverschlusses
DE69216637D1 (de) Verfahren zur oberflächenbehandlung eines werkstückes
DE69411088T2 (de) Verfahren zur Fertigbearbeitung eines Grünkörpers
DE59601339D1 (de) Verfahren zum automatisierten Erstellen eines verfahrenstechnischen Schemas
DE59402500D1 (de) Verfahren zur Kühlung eines Bauteils
DE59404052D1 (de) Verfahren zur überprüfung der konvertierungsfähigkeit eines katalysators
DE69510031D1 (de) Verfahren zum bestimmen von bezugspositionen eines industrieroboters
DE69313590D1 (de) Verfahren zum Steuern des Betriebs eines Roboterarms
DE59306861D1 (de) Verfahren zur Herstellung eines Rohrgelenks
DE69414658T2 (de) Verfahren zur ausführung eines bearbeitungsprogrammes
DE59409429D1 (de) Verfahren zum Herstellen eines Metall-Keramik-Substrates

Legal Events

Date Code Title Description
8364 No opposition during term of opposition