DE69739070D1 - Vorrichtung zur robotersteuerung mit aufgabenrouten-simulationsfunktion - Google Patents

Vorrichtung zur robotersteuerung mit aufgabenrouten-simulationsfunktion

Info

Publication number
DE69739070D1
DE69739070D1 DE69739070T DE69739070T DE69739070D1 DE 69739070 D1 DE69739070 D1 DE 69739070D1 DE 69739070 T DE69739070 T DE 69739070T DE 69739070 T DE69739070 T DE 69739070T DE 69739070 D1 DE69739070 D1 DE 69739070D1
Authority
DE
Germany
Prior art keywords
robot control
simulation function
task route
route simulation
task
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
DE69739070T
Other languages
English (en)
Inventor
Atsushi Watanabe
Ryuichi Hara
Kazunori Ban
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 DE69739070D1 publication Critical patent/DE69739070D1/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • 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
    • G05B19/427—Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control
    • 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
    • G05B2219/36419—Compare modified, corrected path with stored reference, difference too large alarm
    • 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
    • G05B2219/40311—Real time simulation
    • 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
    • G05B2219/40523—Path motion planning, path in space followed by tip of robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE69739070T 1996-11-26 1997-11-26 Vorrichtung zur robotersteuerung mit aufgabenrouten-simulationsfunktion Expired - Fee Related DE69739070D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP32904196 1996-11-26
PCT/JP1997/004319 WO1998024011A1 (fr) 1996-11-26 1997-11-26 Dispositif de commande de robot ayant une fonction de simulation de route des operations

Publications (1)

Publication Number Publication Date
DE69739070D1 true DE69739070D1 (de) 2008-12-11

Family

ID=18216951

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69739070T Expired - Fee Related DE69739070D1 (de) 1996-11-26 1997-11-26 Vorrichtung zur robotersteuerung mit aufgabenrouten-simulationsfunktion

Country Status (5)

Country Link
US (1) US6463358B1 (de)
EP (1) EP0889383B1 (de)
JP (1) JP4091124B2 (de)
DE (1) DE69739070D1 (de)
WO (1) WO1998024011A1 (de)

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE513900C2 (sv) * 1999-01-19 2000-11-20 Abb Ab Anordning för övervakning av driften av en drivinrättning
JP4203696B2 (ja) * 1999-10-20 2009-01-07 株式会社安川電機 産業用機械の動作確認方法および装置
US20030045947A1 (en) * 2001-08-30 2003-03-06 The Boeing Company System, method and computer program product for controlling the operation of motion devices by directly implementing electronic simulation information
EP1472052A2 (de) * 2002-01-31 2004-11-03 Braintech Canada, Inc. Verfahren und vorrichtung für 3d-sicht geführte roboter mit einer kamera
DE10347169A1 (de) * 2003-10-07 2005-05-12 Traub Drehmaschinen Gmbh Verfahren zur Steuerung einer Werkzeugmaschine und Werkzeugmaschinensteuerung
US7890194B2 (en) * 2005-12-13 2011-02-15 Brooks Automation, Inc. Robotics programming interface
DE102004026185A1 (de) * 2004-05-28 2005-12-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters
JP2006099347A (ja) * 2004-09-29 2006-04-13 Fanuc Ltd ロボット移動制御方法
US7627394B2 (en) * 2005-12-20 2009-12-01 Kuka Roboter Gmbh Robot trajectory control including emergency evacuation path system and method
US20070276539A1 (en) * 2006-05-25 2007-11-29 Babak Habibi System and method of robotically engaging an object
DE102006025165A1 (de) * 2006-05-30 2007-10-18 Siemens Ag Einrichtung zur Bewegungsführung eines Maschinenelementes einer Maschine
WO2008036354A1 (en) * 2006-09-19 2008-03-27 Braintech Canada, Inc. System and method of determining object pose
FR2918477A1 (fr) * 2007-07-04 2009-01-09 Aldebaran Robotics Soc Par Act Procede d'edition de mouvements d'un robot
US7957583B2 (en) * 2007-08-02 2011-06-07 Roboticvisiontech Llc System and method of three-dimensional pose estimation
JP2009090403A (ja) * 2007-10-05 2009-04-30 Fanuc Ltd ロボット動作範囲設定装置
US8214415B2 (en) * 2008-04-18 2012-07-03 Motion Engineering Incorporated Interpolator for a networked motion control system
US8559699B2 (en) 2008-10-10 2013-10-15 Roboticvisiontech Llc Methods and apparatus to facilitate operations in image based systems
US8972056B2 (en) 2010-01-14 2015-03-03 Syddansk Universitet Method of finding feasible joint trajectories for an n-dof robot with rotation invariant process (n>5)
EP2345512A1 (de) 2010-01-14 2011-07-20 Syddansk Universitet Verfahren zum Finden praktikabler Gelenkbahnen für einen N-DOF-Roboter mit Rotationsinvariantenprozess (N > 5)
DE102011011542B4 (de) * 2011-02-17 2016-05-25 Convergent Information Technologies Gmbh Verfahren zur automatisierten Programmierung und Optimierung von robotischen Arbeitsabläufen
JP5860073B2 (ja) 2014-02-13 2016-02-16 ファナック株式会社 加工条件変更後の誤加工を防止する数値制御装置
US9925664B2 (en) * 2014-02-27 2018-03-27 Fanuc Corporation Robot simulation device for generation motion path of robot
JP5860081B2 (ja) * 2014-02-27 2016-02-16 ファナック株式会社 ロボットの動作経路を生成するロボットシミュレーション装置
JP6350037B2 (ja) * 2014-06-30 2018-07-04 株式会社安川電機 ロボットシミュレータおよびロボットシミュレータのファイル生成方法
JP6006277B2 (ja) * 2014-11-06 2016-10-12 ファナック株式会社 産業用ロボットのプログラム修正装置及びプログラム修正方法
DE102016004836B3 (de) 2016-04-24 2017-05-18 Haddadin Beteiligungs UG (haftungsbeschränkt) Steuerung eines Robotersystems
JP2018126796A (ja) * 2017-02-06 2018-08-16 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
JP6932618B2 (ja) * 2017-11-09 2021-09-08 キヤノン株式会社 ロボット教示方法、ロボット教示装置、ロボットシステム、プログラム及び記録媒体
WO2020067241A1 (ja) * 2018-09-28 2020-04-02 日本電産株式会社 ロボット制御装置及びロボット制御方法

Family Cites Families (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4035706A (en) * 1973-07-26 1977-07-12 Hymie Cutler Offset path generating system particularly useful for numerical control machines
US4260940A (en) * 1975-10-28 1981-04-07 Unimation, Inc. Programmable automatic assembly system
US4433382A (en) * 1981-07-20 1984-02-21 Cincinnati Milacron Inc. Apparatus for automatically adjusting the programmed location of a robot arm
JPS5833711A (ja) * 1981-08-24 1983-02-28 Fanuc Ltd 数値制御装置
AU3583084A (en) * 1983-12-10 1985-06-13 Aida Engineering Ltd. Playback grinding robot
DE3408523A1 (de) * 1984-03-08 1985-09-12 Siemens AG, 1000 Berlin und 8000 München Verfahren zur ueberwachung der durch die steuerung der antriebe einer rechnergesteuerten werkzeugmaschine oder eines industrieroboters erzeugten bahn
US4817017A (en) * 1985-04-08 1989-03-28 Mitsubishi Denki Kabushiki Kaisha Industrial robot
JPS6250906A (ja) * 1985-08-30 1987-03-05 Toshiba Corp 産業用ロボツトの制御装置
US4685067A (en) * 1986-02-20 1987-08-04 Cincinnati Milacron Inc. Control system for program controlled manipulator having multiple triggered functions between programmed points
JP2506760B2 (ja) * 1986-05-12 1996-06-12 松下電器産業株式会社 ロボットの制御装置
JPS6426909A (en) * 1987-07-23 1989-01-30 Oki Electric Ind Co Ltd Detecting system for working abnormality of robot
US4786848A (en) * 1987-07-27 1988-11-22 Davidson Textron Inc. Water jet trim head simulator
US4831549A (en) * 1987-07-28 1989-05-16 Brigham Young University Device and method for correction of robot inaccuracy
JPH01145703A (ja) * 1987-12-01 1989-06-07 Fanuc Ltd ロボットの誤動作監視方式
US5046022A (en) * 1988-03-10 1991-09-03 The Regents Of The University Of Michigan Tele-autonomous system and method employing time/position synchrony/desynchrony
JPH01312605A (ja) * 1988-06-13 1989-12-18 Sodick Co Ltd 放電加工機
JPH02100704A (ja) 1988-10-08 1990-04-12 Fanuc Ltd ロボットプログラミングチェック方式
JPH02161503A (ja) * 1988-12-14 1990-06-21 Mitsubishi Heavy Ind Ltd ロボットにおける教示位置データの修正・再生方法
JPH03250304A (ja) * 1990-02-28 1991-11-08 Pentel Kk ロボットの動作検証装置
KR100191107B1 (ko) * 1990-11-06 1999-06-15 이데이 노부유끼 신호 처리 방법
DE69216167T2 (de) * 1991-07-06 1997-07-10 Daihen Corp Gerät zur Steuerung eines Industrieroboters zur Durchführung koordinierter Arbeitsvorgänge unter Verwendung eines Playbackteachingverfahrens und dies-bezügliches Verfahren
JPH06126667A (ja) * 1992-10-13 1994-05-10 Fanuc Ltd ５軸多関節ロボットの制御方法
JP3250304B2 (ja) 1993-03-19 2002-01-28 松下電器産業株式会社 ゴミ処理機
JPH06324733A (ja) * 1993-05-12 1994-11-25 Fanuc Ltd センサ付きロボットの制御方法及び装置
JPH0736516A (ja) * 1993-06-28 1995-02-07 Ricoh Co Ltd シミュレーション装置
KR100201020B1 (ko) * 1994-03-11 1999-06-15 모리시타 요이찌 컴퓨터시뮬레이션부착 nc제어미세가공방법과 이 방법에 사용하는 장치
US5495410A (en) * 1994-08-12 1996-02-27 Minnesota Mining And Manufacturing Company Lead-through robot programming system
JPH08202428A (ja) * 1995-01-24 1996-08-09 Nissan Motor Co Ltd 教示プログラム自動生成装置
JP3537229B2 (ja) * 1995-07-28 2004-06-14 ファナック株式会社 ロボットの制御方法

Also Published As

Publication number Publication date
US6463358B1 (en) 2002-10-08
JP4091124B2 (ja) 2008-05-28
EP0889383A4 (de) 2004-04-21
EP0889383B1 (de) 2008-10-29
WO1998024011A1 (fr) 1998-06-04
EP0889383A1 (de) 1999-01-07

Similar Documents

Publication Publication Date Title
DE69739070D1 (de) Vorrichtung zur robotersteuerung mit aufgabenrouten-simulationsfunktion
DE69735860D1 (de) Vorrichtung zur Lichtregelung
DE69419508D1 (de) Vorrichtung zur heizungssteuerung
DE69400854D1 (de) Vorrichtung zur Eingabesteuerung
DE69732178D1 (de) Mikromechanische vorrichtung mit verbesserter abmessungskontrolle
DE69406941T2 (de) Vorrichtung zur ablation
DE69607725D1 (de) Vorrichtung zur Temperaturreglung
DE69427029D1 (de) Verfaheren zur verbrennungsmotorsteuerung
DE69701375T2 (de) Autonome vorrichtung
DE69802792T2 (de) Verfahren und vorrichtung zur gerätsteuerung
DE69737052D1 (de) Automatisiertes Gerät zur Durchführung biochemischer Analysen
DE69731783D1 (de) Vorrichtung zur Insektenbekämpfung
ATE414352T1 (de) Verfahren und vorrichtung zur prädiktive parameterregelung mit verzögerungsschleife
DE69414642D1 (de) Vorrichtung zur automatischen Verstärkungsregelung
DE69404763D1 (de) Gerät zur automatischen Flugzeugsteuerung
DE59509949D1 (de) Vorrichtung zur strahlteilung
DE69723878D1 (de) Vorrichtung zur positionsbestmmung
DE59710274D1 (de) Vorrichtung zur lagefixierung von formkörpern einer gleisübergangseinrichtung an einer gleisanlage
DE69401854D1 (de) Gerät zur automatischen Flugzeugsteuerung
DE69703706D1 (de) Vorrichtung zur echtzeitsimulation
DE69922185D1 (de) Vorrichtung zur strahlsteuerung
DE69529205T2 (de) Vorrichtung zur Litzensteuerung
DE69625871D1 (de) Vorrichtung zur umgebungsüberwachung
ATA97998A (de) Einrichtung zur steuerung der fahrzeuge in einer gleisanlage
DE59607463D1 (de) Vorrichtung zur kontrolle von flächenmassen

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee