FI940245A0 - Asennon ja voiman yhdistetty ohjausmenetelmä robottimanipulaattoria varten - Google Patents

Asennon ja voiman yhdistetty ohjausmenetelmä robottimanipulaattoria varten

Info

Publication number
FI940245A0
FI940245A0 FI940245A FI940245A FI940245A0 FI 940245 A0 FI940245 A0 FI 940245A0 FI 940245 A FI940245 A FI 940245A FI 940245 A FI940245 A FI 940245A FI 940245 A0 FI940245 A0 FI 940245A0
Authority
FI
Finland
Prior art keywords
manipulator
delta
chi
settings
macro
Prior art date
Application number
FI940245A
Other languages
English (en)
Swedish (sv)
Other versions
FI940245A (fi
Inventor
Serge Faure
Alain Gaillet
Regis Lefebvre
Claude Reboulet
Original Assignee
Potain Sa
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 Potain Sa filed Critical Potain Sa
Publication of FI940245A0 publication Critical patent/FI940245A0/fi
Publication of FI940245A publication Critical patent/FI940245A/fi

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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0216—Compliance devices comprising a stewart mechanism
    • 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
    • B25J9/1648—Programme controls characterised by the control loop non-linear control combined or not with linear control

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Nonlinear Science (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
FI940245A 1993-01-19 1994-01-18 Asennon ja voiman yhdistetty ohjausmenetelmä robottimanipulaattoria varten FI940245A (fi)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9300681A FR2700532B1 (fr) 1993-01-19 1993-01-19 Procédé de commande hybride position/force pour robot manipulateur.

Publications (2)

Publication Number Publication Date
FI940245A0 true FI940245A0 (fi) 1994-01-18
FI940245A FI940245A (fi) 1994-07-20

Family

ID=9443313

Family Applications (1)

Application Number Title Priority Date Filing Date
FI940245A FI940245A (fi) 1993-01-19 1994-01-18 Asennon ja voiman yhdistetty ohjausmenetelmä robottimanipulaattoria varten

Country Status (8)

Country Link
US (1) US5469531A (fi)
EP (1) EP0608187B1 (fi)
JP (1) JPH06278068A (fi)
AT (1) ATE151328T1 (fi)
DE (1) DE69402444T2 (fi)
FI (1) FI940245A (fi)
FR (1) FR2700532B1 (fi)
NO (1) NO940178L (fi)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6016385A (en) * 1997-08-11 2000-01-18 Fanu America Corp Real time remotely controlled robot
US6587802B1 (en) * 1998-09-17 2003-07-01 Dr. Johannes Heidenhain Gmbh Calibration device for a parallel kinematic manipulator
US6243624B1 (en) * 1999-03-19 2001-06-05 Northwestern University Non-Linear muscle-like compliant controller
US6943519B2 (en) 2000-04-11 2005-09-13 Siemens Aktiengesellschaft Method and device for weight compensation in a mechanism with closed kinematic chains
KR20040011737A (ko) * 2002-07-30 2004-02-11 정병욱 로봇을 이용한 트럭 로더 시스템 및 그 제어방법
JP4976084B2 (ja) * 2006-09-07 2012-07-18 ニッタ株式会社 位置誤差吸収装置
JP2008188722A (ja) * 2007-02-06 2008-08-21 Fanuc Ltd ロボット制御装置
JP2009066685A (ja) * 2007-09-11 2009-04-02 Sony Corp ロボット装置及びロボット装置の制御方法
US8644964B2 (en) * 2012-05-03 2014-02-04 Deere & Company Method and system for controlling movement of an end effector on a machine
DE102014119654A1 (de) * 2014-12-29 2016-06-30 Brötje-Automation GmbH Verfahren zur Kompensation einer Abweichung eines Arbeitspunkts
DE102015214170A1 (de) * 2015-07-27 2017-02-02 Kuka Roboter Gmbh Roboter mit einer Kraftmesseinrichtung
WO2018009981A1 (en) 2016-07-15 2018-01-18 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US10865578B2 (en) 2016-07-15 2020-12-15 Fastbrick Ip Pty Ltd Boom for material transport
EP3649616A4 (en) 2017-07-05 2021-04-07 Fastbrick IP Pty Ltd POSITION AND ORIENTATION TRACKER IN REAL TIME
WO2019033170A1 (en) 2017-08-17 2019-02-21 Fastbrick Ip Pty Ltd LASER TRACKING DEVICE WITH ENHANCED ROLL ANGLE MEASUREMENT
WO2019033165A1 (en) 2017-08-17 2019-02-21 Fastbrick Ip Pty Ltd CONFIGURATION OF INTERACTION SYSTEM
AU2018348785B2 (en) 2017-10-11 2024-05-02 Fastbrick Ip Pty Ltd Machine for conveying objects and multi-bay carousel for use therewith
CN110497409A (zh) * 2019-08-14 2019-11-26 深圳市烨嘉为技术有限公司 用于驱控一体化控制系统的无传感化主动柔顺控制模块
DE102021214721B3 (de) 2021-12-20 2023-05-04 Kuka Deutschland Gmbh Verfahren und System zum Betreiben eines Roboters
DE102022000885A1 (de) 2022-03-14 2023-09-14 Torsten Pöhler Manipulator sowie Fahrzeug mit zumindest einem solchen Manipulator

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4621332A (en) * 1983-06-20 1986-11-04 Hitachi, Ltd. Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient
JP2713899B2 (ja) * 1987-03-30 1998-02-16 株式会社日立製作所 ロボツト装置
US5129044A (en) * 1988-03-01 1992-07-07 Hitachi Construction Machinery Co., Ltd. Position/force controlling apparatus for working machine with multiple of degrees of freedom
US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms
US5047916A (en) * 1988-03-25 1991-09-10 Kabushiki Kaisha Toshiba Method and apparatus of free space enumeration for collision avoidance
US4974210A (en) * 1989-05-01 1990-11-27 General Electric Company Multiple arm robot with force control and inter-arm position accommodation
FR2653761B1 (fr) * 1989-10-27 1992-01-10 Potain Sa Robot manipulateur de grande dimension et de forte capacite pour utilisation en milieu ouvert.

Also Published As

Publication number Publication date
EP0608187B1 (fr) 1997-04-09
US5469531A (en) 1995-11-21
FR2700532A1 (fr) 1994-07-22
DE69402444T2 (de) 1997-11-13
NO940178D0 (no) 1994-01-18
NO940178L (no) 1994-07-20
FI940245A (fi) 1994-07-20
ATE151328T1 (de) 1997-04-15
DE69402444D1 (de) 1997-05-15
FR2700532B1 (fr) 1995-03-03
EP0608187A1 (fr) 1994-07-27
JPH06278068A (ja) 1994-10-04

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Legal Events

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