FR2403599A1 - Manipulateur programmable - Google Patents
Manipulateur programmableInfo
- Publication number
- FR2403599A1 FR2403599A1 FR7826859A FR7826859A FR2403599A1 FR 2403599 A1 FR2403599 A1 FR 2403599A1 FR 7826859 A FR7826859 A FR 7826859A FR 7826859 A FR7826859 A FR 7826859A FR 2403599 A1 FR2403599 A1 FR 2403599A1
- Authority
- FR
- France
- Prior art keywords
- position signals
- programmable
- manipulator
- producing
- programmable manipulator
- 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
Links
Classifications
-
- 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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34239—Multiplex for whole system
-
- 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
- G05B2219/42268—Safety, excess in error
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50008—Multiple, multi tool head, parallel machining
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50197—Signature analysis, store working conditions, compare with actual
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
Abstract
a. Manipulateur programmable. b. Manipulateur caractérisé en ce qu'on prévoit des moyens répondant aux moyens de production des signaux de position et stockant un certain nombre des signaux de position représentant la position du bras, pour détecter un écart prédéterminé entre les signaux de position stockés et les signaux de position provenant des moyens de production des signaux de position. c. L'invention trouve son application dans le domaine des manipulateurs programmables.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US05/834,421 US4150326A (en) | 1977-09-19 | 1977-09-19 | Trajectory correlation and error detection method and apparatus |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2403599A1 true FR2403599A1 (fr) | 1979-04-13 |
FR2403599B1 FR2403599B1 (fr) | 1984-01-27 |
Family
ID=25266902
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR7826859A Granted FR2403599A1 (fr) | 1977-09-19 | 1978-09-19 | Manipulateur programmable |
Country Status (6)
Country | Link |
---|---|
US (1) | US4150326A (fr) |
DE (1) | DE2840341A1 (fr) |
FR (1) | FR2403599A1 (fr) |
GB (1) | GB2004668B (fr) |
IT (1) | IT1105957B (fr) |
SE (1) | SE441708B (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2667367A1 (fr) * | 1990-09-29 | 1992-04-03 | Danfoss As | Procede pour commander le mouvement d'un appareil de travail mobile hydrauliquement, et dispositif associe de commande de trajectoires. |
Families Citing this family (67)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2399056A1 (fr) * | 1977-07-29 | 1979-02-23 | Sagem | Perfectionnements aux machines-outils a commande numerique |
JPS5918194B2 (ja) * | 1978-01-31 | 1984-04-25 | ファナック株式会社 | 工業用ロボット制御方法 |
US4258425A (en) * | 1979-03-08 | 1981-03-24 | A. O. Smith Corporation | Self-programmed mechanical working apparatus |
DE3066136D1 (en) * | 1979-05-14 | 1984-02-23 | Ballast Nedam Groep Nv | Method of determining the position of a tool of a dredger implement and dredger implement |
US4420812A (en) * | 1979-09-14 | 1983-12-13 | Tokico, Ltd. | Teaching- playback robot |
US4385358A (en) * | 1979-10-19 | 1983-05-24 | Tokico Ltd. | Robot |
DE3111425A1 (de) * | 1980-03-27 | 1982-02-18 | Kabushiki Kaisha Komatsu Seisakusho, Tokyo | Verfahren und vorrichtung zur ermittlung abnormaler stoergroessen beim betrieb einer werkzeugmaschine |
DE3039400C2 (de) * | 1980-10-18 | 1984-10-04 | Ludwig Dr.-Ing. 7500 Karlsruhe Pietzsch | Verfahren zum Steuern von Handhabungssystemen und Handhabungssystem zur Durchführung dieses Verfahrens |
JPS5773402A (en) * | 1980-10-23 | 1982-05-08 | Fanuc Ltd | Numerical control system |
JPS57113111A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
JPS57113117A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
JPS57114340A (en) * | 1980-12-30 | 1982-07-16 | Fanuc Ltd | Thermal displacement compensation |
JPS57113118A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
US4433382A (en) * | 1981-07-20 | 1984-02-21 | Cincinnati Milacron Inc. | Apparatus for automatically adjusting the programmed location of a robot arm |
JPS58163001A (ja) * | 1982-03-23 | 1983-09-27 | Toyoda Mach Works Ltd | 干渉チエツク機能を備えた数値制御装置 |
US4581893A (en) * | 1982-04-19 | 1986-04-15 | Unimation, Inc. | Manipulator apparatus with energy efficient control |
JPS58217294A (ja) * | 1982-06-07 | 1983-12-17 | 株式会社日立製作所 | 産業用ロボツトの安全装置 |
CA1184273A (fr) * | 1982-09-23 | 1985-03-19 | Kazuyoshi Yasukawa | Appareil de commande de robot |
US4614944A (en) * | 1982-09-30 | 1986-09-30 | Teleplex Corporation | Telemetry system for distributed equipment controls and equipment monitors |
US4604682A (en) * | 1982-09-30 | 1986-08-05 | Teleplex Corporation | Buffer system for interfacing an intermittently accessing data processor to an independently clocked communications system |
US4604559A (en) * | 1983-02-15 | 1986-08-05 | Deep Ocean Engineering Incorporated | Apparatus and method for providing useful audio feedback to aid in the operation of remotely controlled powered manipulators |
DE3312862A1 (de) * | 1983-04-09 | 1984-10-11 | Blohm + Voss Ag, 2000 Hamburg | Freiprogrammierbare, mehrachsige betaetigungsarmeinheit, insbesondere industrieroboter |
DE3312939C2 (de) * | 1983-04-11 | 1985-04-25 | Blohm + Voss Ag, 2000 Hamburg | Steuervorrichtung für einen Industrie-Roboter mit mindestens einer Achse |
US4484120A (en) * | 1983-04-13 | 1984-11-20 | Nordson Corporation | Auxiliary function command presequencing for a robot controller |
JPS60169905A (ja) * | 1984-02-15 | 1985-09-03 | Hitachi Constr Mach Co Ltd | テイ−チングプレイバツク装置 |
DE3533058A1 (de) * | 1984-09-22 | 1986-06-12 | Deutsche Gesellschaft für Wiederaufarbeitung von Kernbrennstoffen mbH, 3000 Hannover | Vorrichtung zum fernhantierten instandhalten von anlagenteilen in einer abgeschirmten kerntechnischen anlage |
US4973215A (en) * | 1986-02-18 | 1990-11-27 | Robotics Research Corporation | Industrial robot with servo |
US4825376A (en) * | 1986-04-17 | 1989-04-25 | Glasstech International L.P. | Controller for glass sheet processing system |
JPS62256007A (ja) * | 1986-04-30 | 1987-11-07 | Mitsubishi Electric Corp | 故障診断装置 |
DE3883075T2 (de) * | 1987-05-25 | 1994-04-07 | Omron Tateisi Electronics Co | Fehlerdiagnosegerät für gesteuerte Einrichtung. |
US5086401A (en) * | 1990-05-11 | 1992-02-04 | International Business Machines Corporation | Image-directed robotic system for precise robotic surgery including redundant consistency checking |
US5279309A (en) * | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
US6788999B2 (en) | 1992-01-21 | 2004-09-07 | Sri International, Inc. | Surgical system |
US6963792B1 (en) | 1992-01-21 | 2005-11-08 | Sri International | Surgical method |
US5649956A (en) * | 1995-06-07 | 1997-07-22 | Sri International | System and method for releasably holding a surgical instrument |
US5814038A (en) | 1995-06-07 | 1998-09-29 | Sri International | Surgical manipulator for a telerobotic system |
US8944070B2 (en) | 1999-04-07 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Non-force reflecting method for providing tool force information to a user of a telesurgical system |
US6424885B1 (en) * | 1999-04-07 | 2002-07-23 | Intuitive Surgical, Inc. | Camera referenced control in a minimally invasive surgical apparatus |
US20060178556A1 (en) | 2001-06-29 | 2006-08-10 | Intuitive Surgical, Inc. | Articulate and swapable endoscope for a surgical robot |
US7320700B2 (en) | 2002-12-06 | 2008-01-22 | Intuitive Surgical, Inc | Flexible wrist for surgical tool |
US6817974B2 (en) | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
MXPA04010287A (es) * | 2002-05-02 | 2005-06-08 | Gmp Surgical Solutions Inc | Aparato para colocar un instrumento medico. |
US7386365B2 (en) | 2004-05-04 | 2008-06-10 | Intuitive Surgical, Inc. | Tool grip calibration for robotic surgery |
DE102004026185A1 (de) * | 2004-05-28 | 2005-12-22 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters |
US9789608B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
JP2007098464A (ja) | 2005-10-07 | 2007-04-19 | Nissan Motor Co Ltd | レーザー加工ロボット制御装置、レーザー加工ロボット制御方法およびレーザー加工ロボット制御プログラム |
US8054752B2 (en) * | 2005-12-22 | 2011-11-08 | Intuitive Surgical Operations, Inc. | Synchronous data communication |
US20080064921A1 (en) | 2006-06-13 | 2008-03-13 | Intuitive Surgical, Inc. | Guide tube control of minimally invasive surgical instruments |
US9718190B2 (en) | 2006-06-29 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
US20090192523A1 (en) | 2006-06-29 | 2009-07-30 | Intuitive Surgical, Inc. | Synthetic representation of a surgical instrument |
US10258425B2 (en) | 2008-06-27 | 2019-04-16 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
US10008017B2 (en) | 2006-06-29 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
US7849545B2 (en) * | 2006-11-14 | 2010-12-14 | Hill-Rom Industries Sa | Control system for hospital bed mattress |
EP1967333A1 (fr) * | 2007-03-09 | 2008-09-10 | Abb Research Ltd. | Détection de changements de conditions dans un système de robot industriel |
US9469034B2 (en) | 2007-06-13 | 2016-10-18 | Intuitive Surgical Operations, Inc. | Method and system for switching modes of a robotic system |
US9089256B2 (en) | 2008-06-27 | 2015-07-28 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide |
US8620473B2 (en) | 2007-06-13 | 2013-12-31 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
US9138129B2 (en) | 2007-06-13 | 2015-09-22 | Intuitive Surgical Operations, Inc. | Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide |
US9084623B2 (en) | 2009-08-15 | 2015-07-21 | Intuitive Surgical Operations, Inc. | Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide |
US8864652B2 (en) | 2008-06-27 | 2014-10-21 | Intuitive Surgical Operations, Inc. | Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip |
US9492927B2 (en) | 2009-08-15 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose |
US8918211B2 (en) | 2010-02-12 | 2014-12-23 | Intuitive Surgical Operations, Inc. | Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument |
US8717181B2 (en) | 2010-07-29 | 2014-05-06 | Hill-Rom Services, Inc. | Bed exit alert silence with automatic re-enable |
US10507066B2 (en) | 2013-02-15 | 2019-12-17 | Intuitive Surgical Operations, Inc. | Providing information of tools by filtering image areas adjacent to or on displayed images of the tools |
US11317979B2 (en) * | 2014-03-17 | 2022-05-03 | Intuitive Surgical Operations, Inc. | Systems and methods for offscreen indication of instruments in a teleoperational medical system |
EP2995242B1 (fr) | 2014-09-11 | 2023-11-15 | Hill-Rom S.A.S. | Appareil de support de patient |
US9984766B1 (en) * | 2017-03-23 | 2018-05-29 | Arm Limited | Memory protection circuitry testing and memory scrubbing using memory built-in self-test |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3576979A (en) * | 1968-09-24 | 1971-05-04 | Allen Bradley Co | Motion monitor system |
US3946296A (en) * | 1973-03-08 | 1976-03-23 | Index-Werke Kg Hahn & Tessky | Method and apparatus for checking and monitoring the accuracy of the movement of the carriage of a machine tool responsive to a predetermined operating program |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA918789A (en) * | 1969-03-18 | 1973-01-09 | F. Engelberger Joseph | Programmed manipulator apparatus |
US3744032A (en) * | 1971-07-15 | 1973-07-03 | Unimotion Inc | Stationary base programmed manipulator arrangement for continuously moving workpiece |
GB1433868A (en) * | 1972-05-06 | 1976-04-28 | Herbert Ltd A | Automatic control systems for and methods of controlling machine tool apparatus |
US3914675A (en) * | 1973-09-17 | 1975-10-21 | Gen Electric | Fault detector circuit for electric vehicle control |
US3987283A (en) * | 1975-07-07 | 1976-10-19 | Moeller Charles R | Digital controller for punch presses and the like |
-
1977
- 1977-09-19 US US05/834,421 patent/US4150326A/en not_active Expired - Lifetime
-
1978
- 1978-09-15 DE DE19782840341 patent/DE2840341A1/de active Granted
- 1978-09-18 GB GB7837160A patent/GB2004668B/en not_active Expired
- 1978-09-18 SE SE7809775A patent/SE441708B/sv not_active IP Right Cessation
- 1978-09-19 FR FR7826859A patent/FR2403599A1/fr active Granted
- 1978-09-19 IT IT51138/78A patent/IT1105957B/it active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3576979A (en) * | 1968-09-24 | 1971-05-04 | Allen Bradley Co | Motion monitor system |
US3946296A (en) * | 1973-03-08 | 1976-03-23 | Index-Werke Kg Hahn & Tessky | Method and apparatus for checking and monitoring the accuracy of the movement of the carriage of a machine tool responsive to a predetermined operating program |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2667367A1 (fr) * | 1990-09-29 | 1992-04-03 | Danfoss As | Procede pour commander le mouvement d'un appareil de travail mobile hydrauliquement, et dispositif associe de commande de trajectoires. |
Also Published As
Publication number | Publication date |
---|---|
DE2840341A1 (de) | 1979-04-05 |
GB2004668B (en) | 1982-04-21 |
SE441708B (sv) | 1985-10-28 |
IT1105957B (it) | 1985-11-11 |
DE2840341C2 (fr) | 1987-12-03 |
FR2403599B1 (fr) | 1984-01-27 |
IT7851138A0 (it) | 1978-09-19 |
US4150326A (en) | 1979-04-17 |
GB2004668A (en) | 1979-04-04 |
SE7809775L (sv) | 1979-03-20 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
TP | Transmission of property | ||
ST | Notification of lapse |