DE69723934D1 - Steuereinrichtung für einen mehrachsigen roboter - Google Patents

Steuereinrichtung für einen mehrachsigen roboter

Info

Publication number
DE69723934D1
DE69723934D1 DE69723934T DE69723934T DE69723934D1 DE 69723934 D1 DE69723934 D1 DE 69723934D1 DE 69723934 T DE69723934 T DE 69723934T DE 69723934 T DE69723934 T DE 69723934T DE 69723934 D1 DE69723934 D1 DE 69723934D1
Authority
DE
Germany
Prior art keywords
control device
axis robot
robot
axis
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
DE69723934T
Other languages
English (en)
Other versions
DE69723934T2 (de
Inventor
Nobuhiro Umeda
Ryuichi Oguro
Masao Ojima
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
Application granted granted Critical
Publication of DE69723934D1 publication Critical patent/DE69723934D1/de
Publication of DE69723934T2 publication Critical patent/DE69723934T2/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
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41195—Cross coupled feedback, position change one axis effects control of other

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position Or Direction (AREA)
DE69723934T 1996-02-20 1997-02-17 Steuereinrichtung für einen mehrachsigen roboter Expired - Lifetime DE69723934T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP03223096A JP3611147B2 (ja) 1996-02-20 1996-02-20 多軸ロボットの制御装置
JP3223096 1996-02-20
PCT/JP1997/000421 WO1997031303A1 (fr) 1996-02-20 1997-02-17 Organe de commande d'un robot multiaxial

Publications (2)

Publication Number Publication Date
DE69723934D1 true DE69723934D1 (de) 2003-09-11
DE69723934T2 DE69723934T2 (de) 2004-02-12

Family

ID=12353178

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69723934T Expired - Lifetime DE69723934T2 (de) 1996-02-20 1997-02-17 Steuereinrichtung für einen mehrachsigen roboter

Country Status (6)

Country Link
US (1) US6069463A (de)
EP (1) EP0833238B1 (de)
JP (1) JP3611147B2 (de)
KR (1) KR100359577B1 (de)
DE (1) DE69723934T2 (de)
WO (1) WO1997031303A1 (de)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3981773B2 (ja) * 1997-05-28 2007-09-26 株式会社安川電機 ロボット制御装置
JP2005219133A (ja) * 2004-02-03 2005-08-18 Fanuc Ltd ロボット用サーボモータ制御装置およびロボット
US7847502B2 (en) 2007-01-04 2010-12-07 Fanuc Ltd Device and method for controlling machine tool
US7979160B2 (en) * 2007-07-31 2011-07-12 Spirit Aerosystems, Inc. System and method for robotic accuracy improvement
JP5417161B2 (ja) * 2009-12-28 2014-02-12 川崎重工業株式会社 ロボットの制振方法およびロボットの制御装置
JP5411687B2 (ja) * 2009-12-28 2014-02-12 川崎重工業株式会社 ロボットの制御装置
CN104260093A (zh) * 2014-07-30 2015-01-07 华南理工大学 一种delta并联机械手控制系统
KR101734241B1 (ko) * 2015-12-10 2017-05-11 현대자동차 주식회사 트렁크 리드 힌지 지능형 로더유닛
JP6839369B2 (ja) * 2017-05-03 2021-03-10 株式会社不二越 ロボットシステム
JP6986373B2 (ja) * 2017-06-21 2021-12-22 川崎重工業株式会社 ロボットシステム及びロボットシステムの制御方法
DE102018207748A1 (de) * 2018-05-17 2019-11-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Antriebssystem und Verfahren zur Verwendung eines Antriebssystems
CN113467362A (zh) * 2021-07-05 2021-10-01 无锡沃兹智能科技有限公司 一种集成式控制系统

Family Cites Families (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60207477A (ja) * 1984-03-30 1985-10-19 Hitachi Ltd 電動アクチユエ−タ
JPS62126883A (ja) * 1985-11-27 1987-06-09 Fanuc Ltd 速度制御方式
JP2645004B2 (ja) * 1987-02-27 1997-08-25 株式会社東芝 多自由度マニピユレータの制御装置
JPS63314606A (ja) * 1987-06-18 1988-12-22 Fanuc Ltd 多関節ロボットの制御装置
JPH01136216A (ja) * 1987-11-24 1989-05-29 Daikin Ind Ltd 多関節ロボットのサーボ制御方法
JPH077307B2 (ja) * 1987-12-21 1995-01-30 工業技術院長 ロボットの非干渉化制御方法
US4925312A (en) * 1988-03-21 1990-05-15 Staubli International Ag Robot control system having adaptive feedforward torque control for improved accuracy
JPH03118618A (ja) * 1989-09-30 1991-05-21 Fanuc Ltd 制振効果を持つスライディングモード制御による制御方式
US5331265A (en) * 1989-12-11 1994-07-19 Fanuc Ltd. Method of executing sliding-mode control including twist feedback
JPH03250307A (ja) * 1990-02-28 1991-11-08 Canon Inc 剛物体の経路制御装置
JPH03257602A (ja) * 1990-03-08 1991-11-18 Hitachi Ltd 多軸機構の動作指令生成方法及び装置
US5101472A (en) * 1990-10-04 1992-03-31 Repperger Daniel W Military robotic controller with majorizing function and nonlinear torque capability
US5225757A (en) * 1991-06-17 1993-07-06 Tektronix, Inc. Methods for deriving and implementing motion profiles for drive systems
JP3322892B2 (ja) * 1991-09-21 2002-09-09 株式会社東芝 多軸ロボットの制御装置
JP3185348B2 (ja) * 1992-05-07 2001-07-09 株式会社日立製作所 ロボット
JP3235242B2 (ja) * 1992-11-30 2001-12-04 株式会社明電舎 ２慣性ねじり振動系の速度制御におけるイナーシャ推定方法
JP3227000B2 (ja) * 1993-01-21 2001-11-12 株式会社日立製作所 モータの速度制御装置
JPH06246652A (ja) * 1993-02-23 1994-09-06 Nippon Telegr & Teleph Corp <Ntt> 重量物ハンドリング用マニピュレータ装置
JP3200496B2 (ja) * 1993-03-18 2001-08-20 株式会社三協精機製作所 多関節型ロボット制御装置
JPH077307A (ja) * 1993-06-15 1995-01-10 Fujitsu Ltd マイクロ波終端器
JPH07129210A (ja) * 1993-11-05 1995-05-19 Hitachi Ltd 多軸機構の質量配分決定法，加減速特徴パラメ−タ決定法，質量配分・加減速特徴パラメ−タ同時決定法，前記質量配分決定法に基づく質量配分を有する付加質量装着ロボット及び特定質量配分具備ロボット
JP3300144B2 (ja) * 1993-12-28 2002-07-08 株式会社神戸製鋼所 多軸ロボットのウィービング制御方法
US5650704A (en) * 1995-06-29 1997-07-22 Massachusetts Institute Of Technology Elastic actuator for precise force control
JPH09212203A (ja) * 1995-11-30 1997-08-15 Sony Corp ロボット制御装置
US5767648A (en) * 1996-04-19 1998-06-16 Massachusetts Institute Of Technology Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use thereof

Also Published As

Publication number Publication date
EP0833238A4 (de) 2000-11-29
DE69723934T2 (de) 2004-02-12
EP0833238A1 (de) 1998-04-01
JPH09222910A (ja) 1997-08-26
WO1997031303A1 (fr) 1997-08-28
KR19980703865A (ko) 1998-12-05
US6069463A (en) 2000-05-30
JP3611147B2 (ja) 2005-01-19
KR100359577B1 (ko) 2002-12-18
EP0833238B1 (de) 2003-08-06

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