FR2424579A1 - Dispositif de commande pour un robot industriel - Google Patents

Dispositif de commande pour un robot industriel

Info

Publication number
FR2424579A1
FR2424579A1 FR7910618A FR7910618A FR2424579A1 FR 2424579 A1 FR2424579 A1 FR 2424579A1 FR 7910618 A FR7910618 A FR 7910618A FR 7910618 A FR7910618 A FR 7910618A FR 2424579 A1 FR2424579 A1 FR 2424579A1
Authority
FR
France
Prior art keywords
control device
industrial robot
machine
tools
hnd
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
FR7910618A
Other languages
English (en)
Other versions
FR2424579B1 (fr
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
Fujitsu Fanuc Ltd
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 Fujitsu Fanuc Ltd filed Critical Fujitsu Fanuc Ltd
Publication of FR2424579A1 publication Critical patent/FR2424579A1/fr
Application granted granted Critical
Publication of FR2424579B1 publication Critical patent/FR2424579B1/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
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • 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
    • G05B19/409—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 using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • 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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/41825—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell machine tools and manipulators only, machining centre
    • 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
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • 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
    • G05B2219/36296—Order, select, determine, change machining sequence, order
    • 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
    • G05B2219/36499—Part program, workpiece, geometry and environment, machining dependant, combine
    • 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
    • G05B2219/36511—Select by a detector
    • 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
    • G05B2219/36513—Select out of a plurality of programs, patterns
    • 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
    • G05B2219/36523—Select with code on workpiece, fixture, clamp, object
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45213—Integrated manufacturing system ims, transfer line, machining center
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Artificial Intelligence (AREA)
  • Quality & Reliability (AREA)
  • Human Computer Interaction (AREA)
  • Numerical Control (AREA)

Abstract

L'INVENTION CONCERNE LES MACHINES-OUTILS. UN DISPOSITIF DE COMMANDE POUR UN ROBOT INDUSTRIEL RBT, EQUIPE D'UNE MAIN HND CAPABLE DE MONTER DES PIECES DANS LE MANDRIN CHK D'UNE MACHINE-OUTIL, COMPORTE DES MOYENS QUI SELECTIONNENT LE PROGRAMME A EXECUTER EN FONCTION DE DONNEES EXTERNES. CES DONNEES COMPRENNENT ENTRE AUTRES UNE INFORMATION DE TYPE D'USINAGE QUI EST DEFINIE PAR UNE PLAQUE DE CODAGE C2, C3, ASSOCIEE A CHAQUE PIECE W2, W3 A USINER. APPLICATION AUX MACHINES-OUTILS AUTOMATIQUES.
FR7910618A 1978-04-26 1979-04-26 Dispositif de commande pour un robot industriel Granted FR2424579A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP53049413A JPS5858682B2 (ja) 1978-04-26 1978-04-26 産業用ロボツトの制御方式

Publications (2)

Publication Number Publication Date
FR2424579A1 true FR2424579A1 (fr) 1979-11-23
FR2424579B1 FR2424579B1 (fr) 1984-02-17

Family

ID=12830364

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7910618A Granted FR2424579A1 (fr) 1978-04-26 1979-04-26 Dispositif de commande pour un robot industriel

Country Status (5)

Country Link
US (1) US4347578A (fr)
JP (1) JPS5858682B2 (fr)
DE (1) DE2916702A1 (fr)
FR (1) FR2424579A1 (fr)
GB (1) GB2021287B (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2466798A1 (fr) * 1979-10-02 1981-04-10 Daihatsu Motor Co Ltd Procede de commande numerique d'une machine-outil
FR2541561A1 (fr) * 1983-02-28 1984-08-31 Renault Dispositif de commande automatique de liage dans une presse a fourrage

Families Citing this family (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5621794A (en) * 1979-07-30 1981-02-28 Fujitsu Fanuc Ltd Controlling system for industrial robot
US4420812A (en) * 1979-09-14 1983-12-13 Tokico, Ltd. Teaching- playback robot
JPS56152002A (en) * 1980-04-24 1981-11-25 Heian Tekkosho:Kk Setup controller of machine tool
JPS5785674A (en) * 1980-11-17 1982-05-28 Komatsu Ltd Copying corrector for welding robot
DE3169292D1 (en) * 1980-11-17 1985-04-18 Hitachi Ltd Assembling or processing system
JPS57113111A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57113118A (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
US4403281A (en) * 1981-04-03 1983-09-06 Cincinnati Milacron Industries, Inc. Apparatus for dynamically controlling the tool centerpoint of a robot arm off a predetermined path
US4545106A (en) * 1981-04-30 1985-10-08 Gte Valeron Corporation Machine system using infrared telemetering
JPS57207908A (en) * 1981-06-17 1982-12-20 Hitachi Ltd Robot controller
JPS5822412A (ja) * 1981-08-04 1983-02-09 Fanuc Ltd 工業用ロボツト制御方式
JPS58117004A (ja) * 1981-12-30 1983-07-12 Fanuc Ltd ロボツト制御方式
JPS58141867A (ja) * 1982-02-19 1983-08-23 Kiyouhou Seisakusho:Kk ロボツト用関連作動軸の制御方法
JPS58149189A (ja) * 1982-03-01 1983-09-05 セイコーインスツルメンツ株式会社 工業用ロボツトの旋回昇降機構
JPS58177289A (ja) * 1982-04-12 1983-10-17 株式会社三協精機製作所 工業用ロボツトの動作制御装置
SE452719B (sv) * 1982-06-29 1987-12-14 Asea Ab Industrirobot
JPS5927307A (ja) * 1982-08-04 1984-02-13 Hitachi Ltd 経路制御方法及び装置
US4608714A (en) * 1982-09-03 1986-08-26 Gte Valeron Corporation Low battery detector for a machine system using infrared telemetry
CA1184273A (fr) * 1982-09-23 1985-03-19 Kazuyoshi Yasukawa Appareil de commande de robot
JPS5977509A (ja) * 1982-10-05 1984-05-04 Fujitsu Ltd ロボツト制御方式
SE455387B (sv) * 1983-04-08 1988-07-11 Asea Ab Sett och anordning for styrning av en svetsrobot med hjelp av ett flerfunktionsmanoverorgan (styrspak) samt anvendning av ett dylikt manoverorgan
JPS6033607A (ja) * 1983-08-05 1985-02-21 Nachi Fujikoshi Corp ロボツトの補間動作制御装置
EP0147480B1 (fr) * 1983-12-24 1989-03-15 L. SCHULER GmbH Installation pour prendre la moyenne prévue de la valeur du transport d'une pièce d'une presse à étapes multiples
US4638227A (en) * 1984-01-18 1987-01-20 Hitachi, Ltd. Method and apparatus for recovering normality in moving sequence of machinery
KR900008539B1 (ko) * 1985-05-30 1990-11-24 마쯔시다덴기산교 가부시기가이샤 로보트의 연속경로 제어방법
JPS6293710A (ja) * 1985-10-18 1987-04-30 Tokico Ltd 工業用ロボツト
US4973215A (en) * 1986-02-18 1990-11-27 Robotics Research Corporation Industrial robot with servo
US4869813A (en) * 1987-07-02 1989-09-26 Northrop Corporation Drill inspection and sorting method and apparatus
JPH0738907B2 (ja) * 1988-08-20 1995-05-01 ブラザー工業株式会社 縫製システム
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
GB2259586B (en) * 1991-09-11 1994-08-24 Honda Motor Co Ltd Method of and system for generating teaching data for robots
US5475797A (en) * 1993-10-22 1995-12-12 Xerox Corporation Menu driven system for controlling automated assembly of palletized elements
JP3529158B2 (ja) * 1994-05-18 2004-05-24 ファナック株式会社 ロボット動作プログラミング方法及びプログラミング装置
US8078445B2 (en) * 2008-09-30 2011-12-13 Rockwell Automation Technologies, Inc. Load characterization in servo drive systems
CN109335589A (zh) * 2018-11-15 2019-02-15 陈国� 工件传送流水线的控制方法
CN113894778B (zh) * 2021-07-19 2022-08-12 北京精密机电控制设备研究所 一种用于灵巧手伺服系统及其故障检测、控制保护方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE694674A (fr) * 1967-02-27 1967-07-31
US3920972A (en) * 1974-07-16 1975-11-18 Cincinnati Milacron Inc Method and apparatus for programming a computer operated robot arm
FR2295472A1 (fr) * 1974-12-20 1976-07-16 Fiat Spa Machine automatique

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3306442A (en) * 1964-11-02 1967-02-28 George C Devol Multi-program apparatus
US4021651A (en) * 1972-06-20 1977-05-03 Kawasaki Jukogyo Kabushiki Kaisha Programmed manipulator
US4025838A (en) * 1974-12-26 1977-05-24 Kawasaki Heavy Industries, Ltd. Signal modification device for memory controlled manipulator apparatus
USRE30016E (en) 1975-09-12 1979-05-29 Cincinnati Milacron Inc. Method and apparatus for compensating for unprogrammed changes in relative position between a machine and workpiece
US4140953A (en) * 1976-03-03 1979-02-20 Unimation, Inc. Real time program modification apparatus
DE2731041C3 (de) * 1976-07-09 1981-04-02 Régie Nationale des Usines Renault, Boulogne-Billancourt, Hauts-de-Seine Programmiervorrichtung für eine programmgesteuerten Anstrichmanipulator
US4178632A (en) * 1978-03-06 1979-12-11 Cincinnati Milacron Inc. Method for controlling the operation of a computer operated robot arm

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE694674A (fr) * 1967-02-27 1967-07-31
US3920972A (en) * 1974-07-16 1975-11-18 Cincinnati Milacron Inc Method and apparatus for programming a computer operated robot arm
FR2295472A1 (fr) * 1974-12-20 1976-07-16 Fiat Spa Machine automatique

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2466798A1 (fr) * 1979-10-02 1981-04-10 Daihatsu Motor Co Ltd Procede de commande numerique d'une machine-outil
FR2541561A1 (fr) * 1983-02-28 1984-08-31 Renault Dispositif de commande automatique de liage dans une presse a fourrage
EP0117817A1 (fr) * 1983-02-28 1984-09-05 Regie Nationale Des Usines Renault Dispositif de commande automatique de liage dans une presse à fourrage
US4624179A (en) * 1983-02-28 1986-11-25 Regie Nationale Des Usines Renault Automatic control device for tying in a hay baler

Also Published As

Publication number Publication date
US4347578A (en) 1982-08-31
JPS5858682B2 (ja) 1983-12-27
FR2424579B1 (fr) 1984-02-17
GB2021287B (en) 1982-12-15
JPS54142771A (en) 1979-11-07
GB2021287A (en) 1979-11-28
DE2916702A1 (de) 1979-10-31

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