ES543778A0 - Sistema de control para un aparato manipulador - Google Patents

Sistema de control para un aparato manipulador

Info

Publication number
ES543778A0
ES543778A0 ES543778A ES543778A ES543778A0 ES 543778 A0 ES543778 A0 ES 543778A0 ES 543778 A ES543778 A ES 543778A ES 543778 A ES543778 A ES 543778A ES 543778 A0 ES543778 A0 ES 543778A0
Authority
ES
Spain
Prior art keywords
control system
handling device
handling
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.)
Granted
Application number
ES543778A
Other languages
English (en)
Other versions
ES8607794A1 (es
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.)
Unimation Inc
Original Assignee
Unimation 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 Unimation Inc filed Critical Unimation Inc
Publication of ES543778A0 publication Critical patent/ES543778A0/es
Publication of ES8607794A1 publication Critical patent/ES8607794A1/es
Expired 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position Or Direction (AREA)
  • Manipulator (AREA)
ES543778A 1984-06-05 1985-05-31 Sistema de control para un aparato manipulador Expired ES8607794A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/617,363 US4603284A (en) 1984-06-05 1984-06-05 Control system for manipulator apparatus with resolved compliant motion control

Publications (2)

Publication Number Publication Date
ES543778A0 true ES543778A0 (es) 1986-06-01
ES8607794A1 ES8607794A1 (es) 1986-06-01

Family

ID=24473367

Family Applications (1)

Application Number Title Priority Date Filing Date
ES543778A Expired ES8607794A1 (es) 1984-06-05 1985-05-31 Sistema de control para un aparato manipulador

Country Status (6)

Country Link
US (1) US4603284A (es)
EP (1) EP0163934A3 (es)
JP (1) JPS6139110A (es)
CA (1) CA1232960A (es)
ES (1) ES8607794A1 (es)
FI (1) FI852094L (es)

Families Citing this family (82)

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US5136227A (en) * 1985-09-10 1992-08-04 Agency Of Industrial Science & Technology, Ministry Of International Trade & Industry Active gravity compensation device for force control system
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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
JP2713899B2 (ja) * 1987-03-30 1998-02-16 株式会社日立製作所 ロボツト装置
US4921393A (en) * 1988-03-09 1990-05-01 Sri International Articulatable structure with adjustable end-point compliance
JPH0683976B2 (ja) * 1988-03-15 1994-10-26 インターナシヨナル・ビジネス・マシーンズ・コーポレーシヨン コンプライアンス制御方法
US4925312A (en) * 1988-03-21 1990-05-15 Staubli International Ag Robot control system having adaptive feedforward torque control for improved accuracy
DE3811046C2 (de) * 1988-03-31 1994-05-26 Heidelberger Druckmasch Ag Verfahren und Vorrichtung zur Bestimmung des Übersetzungsverhältnisses an einer Druckmaschine
US5224201A (en) * 1988-03-31 1993-06-29 Heidelberger Druckmaschinen Ag Method and device for measuring rotary speed
US4817848A (en) * 1988-05-12 1989-04-04 Hughes Aircraft Company Compliant motion servo
JPH02199502A (ja) * 1989-01-30 1990-08-07 Fanuc Ltd 外乱推定オブザーバによるサーボ制御方法
JPH0790483B2 (ja) * 1989-02-10 1995-10-04 インターナショナル・ビジネス・マシーンズ・コーポレーション コンプライアンス制御方法及びシステム
JPH02297602A (ja) * 1989-05-12 1990-12-10 Fanuc Ltd 非線形項補償を含むスライディングモード制御方式
US5049796A (en) * 1989-05-17 1991-09-17 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Robust high-performance control for robotic manipulators
US4985668A (en) * 1989-09-19 1991-01-15 Kabushiki Kaisha Kobe Seiko Sho Robot controller
JPH03178788A (ja) * 1989-12-06 1991-08-02 Hitachi Ltd マニピュレータの制御方法
JP2897333B2 (ja) * 1990-04-11 1999-05-31 ブラザー工業株式会社 サーボ制御装置
JP2566665B2 (ja) * 1990-06-27 1996-12-25 川崎重工業株式会社 慣性系におけるロボットの制御装置
US5625577A (en) * 1990-12-25 1997-04-29 Shukyohojin, Kongo Zen Sohonzan Shorinji Computer-implemented motion analysis method using dynamics
US5623428A (en) * 1990-12-25 1997-04-22 Shukyohoji, Kongo Zen Sohozan Shoriji Method for developing computer animation
US5586224A (en) * 1990-12-25 1996-12-17 Shukyohojin, Kongo Zen Sohonzan Shorinji Robot or numerical control programming method
JP2954378B2 (ja) * 1991-04-25 1999-09-27 三菱電機株式会社 電動機サーボ系の制御装置
JPH0580810A (ja) * 1991-09-20 1993-04-02 Hitachi Ltd サーボ制御方法及び装置
US5790108A (en) 1992-10-23 1998-08-04 University Of British Columbia Controller
US5629594A (en) * 1992-12-02 1997-05-13 Cybernet Systems Corporation Force feedback system
US7345672B2 (en) * 1992-12-02 2008-03-18 Immersion Corporation Force feedback system and actuator power management
US6801008B1 (en) 1992-12-02 2004-10-05 Immersion Corporation Force feedback system and actuator power management
US5513100A (en) * 1993-06-10 1996-04-30 The University Of British Columbia Velocity controller with force feedback stiffness control
CA2167304C (en) 1993-07-16 1998-04-21 Louis B. Rosenberg Multi degree of freedom human-computer interface with tracking and forcefeedback
US5739811A (en) 1993-07-16 1998-04-14 Immersion Human Interface Corporation Method and apparatus for controlling human-computer interface systems providing force feedback
US5805140A (en) 1993-07-16 1998-09-08 Immersion Corporation High bandwidth force feedback interface using voice coils and flexures
US6437771B1 (en) 1995-01-18 2002-08-20 Immersion Corporation Force feedback device including flexure member between actuator and user object
US5734373A (en) 1993-07-16 1998-03-31 Immersion Human Interface Corporation Method and apparatus for controlling force feedback interface systems utilizing a host computer
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US6154000A (en) * 1994-09-07 2000-11-28 Omnitek Research & Development, Inc. Apparatus for providing a controlled deflection and/or actuator apparatus
US5684374A (en) * 1995-07-27 1997-11-04 Allen-Bradley Company, Inc. Method and apparatus for tuning a motion control system having an external velocity loop
US6639581B1 (en) 1995-11-17 2003-10-28 Immersion Corporation Flexure mechanism for interface device
US8508469B1 (en) 1995-12-01 2013-08-13 Immersion Corporation Networked applications including haptic feedback
US6028593A (en) 1995-12-01 2000-02-22 Immersion Corporation Method and apparatus for providing simulated physical interactions within computer generated environments
US5946449A (en) * 1996-04-05 1999-08-31 Georgia Tech Research Corporation Precision apparatus with non-rigid, imprecise structure, and method for operating same
US5765975A (en) * 1996-09-05 1998-06-16 Abb Flexible Automation, Inc. Compliant end effector for an industrial robot
US6024576A (en) * 1996-09-06 2000-02-15 Immersion Corporation Hemispherical, high bandwidth mechanical interface for computer systems
SE509443C2 (sv) * 1997-05-15 1999-01-25 Asea Brown Boveri Förfarande för övervakning av en manipulators rörelsestyrning
US5869940A (en) * 1997-05-21 1999-02-09 Elite Access Systems, Inc. Gate operator apparatus and method with learning-mode
US6104382A (en) 1997-10-31 2000-08-15 Immersion Corporation Force feedback transmission mechanisms
US6067077A (en) 1998-04-10 2000-05-23 Immersion Corporation Position sensing for force feedback devices
US6184868B1 (en) 1998-09-17 2001-02-06 Immersion Corp. Haptic feedback control devices
US6429846B2 (en) 1998-06-23 2002-08-06 Immersion Corporation Haptic feedback for touchpads and other touch controls
DE19846637A1 (de) * 1998-10-09 2000-04-13 Heidenhain Gmbh Dr Johannes Verfahren und Schaltungsanordnung zur automatischen Parametrierung eines schnellen digitalen Drehzahlregelkreises
US6822635B2 (en) 2000-01-19 2004-11-23 Immersion Corporation Haptic interface for laptop computers and other portable devices
DE10125445A1 (de) * 2001-05-25 2002-12-05 Kuka Roboter Gmbh Verfahren zum Steuern der Bewegung eines Roboters
DE10297481B4 (de) * 2002-04-05 2014-01-09 Mitsubishi Denki K.K. Verfahren zum betrieb einer motorsteuervorrichtung
US8059088B2 (en) 2002-12-08 2011-11-15 Immersion Corporation Methods and systems for providing haptic messaging to handheld communication devices
AU2003293449A1 (en) * 2002-12-08 2004-06-30 Immersion Corporation Methods and systems for providing a virtual touch haptic effect to handheld communication devices
US8830161B2 (en) 2002-12-08 2014-09-09 Immersion Corporation Methods and systems for providing a virtual touch haptic effect to handheld communication devices
JP4391218B2 (ja) * 2003-02-20 2009-12-24 三菱電機株式会社 サーボ制御装置
US7211979B2 (en) * 2005-04-13 2007-05-01 The Broad Of Trustees Of The Leland Stanford Junior University Torque-position transformer for task control of position controlled robots
EP1951482A2 (en) * 2005-11-16 2008-08-06 Abb Ab Method and device for controlling motion of an industrial robot
CN104063056B (zh) * 2006-04-06 2018-04-20 意美森公司 用于增强的触觉效果的系统和方法
JP5775669B2 (ja) * 2006-12-27 2015-09-09 イマージョン コーポレーションＩｍｍｅｒｓｉｏｎ Ｃｏｒｐｏｒａｔｉｏｎ 振動触感フィードバックによる仮想移動止め機構
US8167813B2 (en) * 2007-05-17 2012-05-01 Immersion Medical, Inc. Systems and methods for locating a blood vessel
JP4943965B2 (ja) * 2007-07-28 2012-05-30 ゴールドフラッグ株式会社 ブラジャー
US8156809B2 (en) * 2008-03-27 2012-04-17 Immersion Corporation Systems and methods for resonance detection
US8239177B2 (en) * 2008-08-01 2012-08-07 National Instruments Corporation Simulation of a motion system including a mechanical modeler with interpolation
US9582178B2 (en) 2011-11-07 2017-02-28 Immersion Corporation Systems and methods for multi-pressure interaction on touch-sensitive surfaces
US9547366B2 (en) 2013-03-14 2017-01-17 Immersion Corporation Systems and methods for haptic and gesture-driven paper simulation
KR101332318B1 (ko) * 2013-06-28 2013-11-22 한국기계연구원 빔형 기판이송 로봇의 진동 저감 장치 및 방법
JP6380828B2 (ja) * 2014-03-07 2018-08-29 セイコーエプソン株式会社 ロボット、ロボットシステム、制御装置、及び制御方法
JP6443837B2 (ja) * 2014-09-29 2018-12-26 セイコーエプソン株式会社 ロボット、ロボットシステム、制御装置、及び制御方法

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US3422965A (en) * 1967-02-13 1969-01-21 Westinghouse Electric Corp Manipulator apparatus
US4132937A (en) * 1976-10-18 1979-01-02 Unimation, Inc. Programmable manipulator with dynamic feedback apparatus for stabilization
DE2656433C3 (de) * 1976-12-14 1983-11-17 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V., 8000 Muenchen Verfahren und Anordnung zur Regelung von Manipulatoen und industriellen Robotern
US4068156A (en) * 1977-03-01 1978-01-10 Martin Marietta Corporation Rate control system for manipulator arms
US4123937A (en) * 1977-05-31 1978-11-07 Alexander Lloyd G Methods of determining well characteristics
US4205308A (en) * 1977-11-21 1980-05-27 Fmc Corporation Programmable alarm system for marine loading arms
DE2802224C2 (de) * 1978-01-19 1982-06-09 Siemens AG, 1000 Berlin und 8000 München Schaltungsanordnung zur proportional-integralen Drehzahlregelung einer von einem Elektromotor angetriebenen Arbeitsmaschine mit veränderlicher Belastung
US4219766A (en) * 1978-03-27 1980-08-26 Qume Corporation Hybrid dual mode servo-system
US4338672A (en) * 1978-04-20 1982-07-06 Unimation, Inc. Off-line teach assist apparatus and on-line control apparatus
US4362978A (en) * 1980-10-27 1982-12-07 Unimation, Inc. Control system for manipulator apparatus
FR2520523A1 (fr) * 1982-01-27 1983-07-29 Commissariat Energie Atomique Structure de commande analogique pour boucles d'asservissement de la position en rotation d'un moteur a charge inertielle variable
US4502109A (en) * 1982-09-14 1985-02-26 Vickers, Incorporated Apparatus for estimating plural system variables based upon a single measured system variable and a mathematical system model

Also Published As

Publication number Publication date
FI852094A0 (fi) 1985-05-27
FI852094L (fi) 1985-12-06
JPS6139110A (ja) 1986-02-25
EP0163934A3 (en) 1988-10-05
CA1232960A (en) 1988-02-16
ES8607794A1 (es) 1986-06-01
EP0163934A2 (en) 1985-12-11
US4603284A (en) 1986-07-29

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Legal Events

Date Code Title Description
FD1A Patent lapsed

Effective date: 19970203