FR2360117A1 - Procede et appareil de production d'un programme de commande pour organe a positionner - Google Patents

Procede et appareil de production d'un programme de commande pour organe a positionner

Info

Publication number
FR2360117A1
FR2360117A1 FR7718948A FR7718948A FR2360117A1 FR 2360117 A1 FR2360117 A1 FR 2360117A1 FR 7718948 A FR7718948 A FR 7718948A FR 7718948 A FR7718948 A FR 7718948A FR 2360117 A1 FR2360117 A1 FR 2360117A1
Authority
FR
France
Prior art keywords
producing
control program
output signals
hand
manually
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
FR7718948A
Other languages
English (en)
Other versions
FR2360117B1 (fr
Inventor
Carl F Ruoff Jr
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.)
Bendix Corp
Original Assignee
Bendix 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 Bendix Corp filed Critical Bendix Corp
Publication of FR2360117A1 publication Critical patent/FR2360117A1/fr
Application granted granted Critical
Publication of FR2360117B1 publication Critical patent/FR2360117B1/fr
Granted 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
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • 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
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • 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
    • G05B2219/36429—Power assisted positioning
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37357—Force, pressure, weight or deflection
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42168—Measuring of needed force for servo

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

Appareil de production d'un programme de commande pour une machine possédant un organe à positionner sous le contrôle du programme. Appareil dans lequel on impose manuellement des forces sur l'organe afin de le mettre en mouvement d'une manière désirée tandis que, d'une part, est engendré un signal de commande qui est fonction des signaux de sortie d'un capteur de force et d'un capteur de condition de position associés à l'organe et qui commande son déplacement de manière à diminuer les forces imposées manuellement et que, d'autre part, sont enregistrés les signaux de sortie du capteur de condition de position. Appareil applicable à un manipulateur pour machine-outil.
FR7718948A 1976-07-26 1977-06-21 Procede et appareil de production d'un programme de commande pour organe a positionner Granted FR2360117A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US70852176A 1976-07-26 1976-07-26

Publications (2)

Publication Number Publication Date
FR2360117A1 true FR2360117A1 (fr) 1978-02-24
FR2360117B1 FR2360117B1 (fr) 1980-12-19

Family

ID=24846113

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7718948A Granted FR2360117A1 (fr) 1976-07-26 1977-06-21 Procede et appareil de production d'un programme de commande pour organe a positionner

Country Status (6)

Country Link
JP (1) JPS5314281A (fr)
CA (1) CA1080828A (fr)
DE (1) DE2728395A1 (fr)
FR (1) FR2360117A1 (fr)
GB (1) GB1532927A (fr)
IT (1) IT1081643B (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2467061A1 (fr) * 1979-10-12 1981-04-17 Nordson Corp Robot programmable a la main et executant des deplacements assistes pendant la programmation
EP0076331A1 (fr) * 1981-04-15 1983-04-13 Fanuc Ltd. Dispositif de commande de robot
EP0145007A2 (fr) * 1983-12-10 1985-06-19 Aida Engineering Ltd. Robot de meulage avec dispositif répétiteur

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54106776A (en) * 1978-02-10 1979-08-22 Fanuc Ltd Positioning device
DE2841284C2 (de) * 1978-09-22 1982-04-15 H.A. Schlatter AG, Schlieren, Zürich Vorrichtung zum Programmieren eines Handhabungsgeräts
JPS57199484A (en) * 1981-06-01 1982-12-07 Okuma Mach Works Ltd Controller for synchronous motor
DE3240251A1 (de) * 1982-10-30 1984-05-03 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Verfahren zum programmieren von bewegungen und erforderlichenfalls von bearbeitungskraeften bzw. -momenten eines roboters oder manipulators und einrichtung zu dessen durchfuehrung
EP0108511A3 (fr) * 1982-11-04 1985-12-18 EMI Limited Systèmes de commande de robot
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
JPH0748162B2 (ja) * 1984-03-09 1995-05-24 富士通株式会社 物品処理装置の教示方法
JPH0612490B2 (ja) * 1985-04-22 1994-02-16 日産自動車株式会社 ロボツトの制御装置
JPS61264408A (ja) * 1985-05-20 1986-11-22 Fujitsu Ltd 物体移動装置の教示制御方式
JPS61269712A (ja) * 1985-05-24 1986-11-29 Fujitsu Ltd 自動作業装置の教示制御方法
DE4129152A1 (de) * 1991-09-02 1993-04-08 Fraunhofer Ges Forschung Positioniervorrichtung mit kraftsensor
CN102848391A (zh) * 2012-09-20 2013-01-02 北京邮电大学 基于真实力反馈的四通道双边遥操作控制系统

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2467061A1 (fr) * 1979-10-12 1981-04-17 Nordson Corp Robot programmable a la main et executant des deplacements assistes pendant la programmation
EP0076331A1 (fr) * 1981-04-15 1983-04-13 Fanuc Ltd. Dispositif de commande de robot
EP0076331A4 (fr) * 1981-04-15 1986-01-07 Fanuc Ltd Dispositif de commande de robot.
EP0145007A2 (fr) * 1983-12-10 1985-06-19 Aida Engineering Ltd. Robot de meulage avec dispositif répétiteur
EP0145007A3 (fr) * 1983-12-10 1987-09-02 Aida Engineering Ltd. Robot de meulage avec dispositif répétiteur

Also Published As

Publication number Publication date
GB1532927A (en) 1978-11-22
FR2360117B1 (fr) 1980-12-19
DE2728395A1 (de) 1978-02-02
JPS5314281A (en) 1978-02-08
IT1081643B (it) 1985-05-21
CA1080828A (fr) 1980-07-01

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Legal Events

Date Code Title Description
ST Notification of lapse