FR2499728B1 - Procede de manipulation dans un espace de manipulation d'un objet a partir d'une position initiale, dispositif pour sa mise en oeuvre et pieces en comportant application - Google Patents

Procede de manipulation dans un espace de manipulation d'un objet a partir d'une position initiale, dispositif pour sa mise en oeuvre et pieces en comportant application

Info

Publication number
FR2499728B1
FR2499728B1 FR8102490A FR8102490A FR2499728B1 FR 2499728 B1 FR2499728 B1 FR 2499728B1 FR 8102490 A FR8102490 A FR 8102490A FR 8102490 A FR8102490 A FR 8102490A FR 2499728 B1 FR2499728 B1 FR 2499728B1
Authority
FR
France
Prior art keywords
handling
initial position
parts including
including application
implementing same
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.)
Expired
Application number
FR8102490A
Other languages
English (en)
Other versions
FR2499728A1 (fr
Inventor
Juozas Prano Rudzyanskas
Galina Juozovna Rudzyanskaite
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.)
Kauno Technologijos Universitetas
Original Assignee
Kauno Technologijos Universitetas
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 Kauno Technologijos Universitetas filed Critical Kauno Technologijos Universitetas
Publication of FR2499728A1 publication Critical patent/FR2499728A1/fr
Application granted granted Critical
Publication of FR2499728B1 publication Critical patent/FR2499728B1/fr
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/5468—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair
    • B23Q1/5481—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair followed parallelly by a single rotating pair
    • 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
    • B25J9/046—Revolute coordinate type
    • B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
    • 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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Nitrogen And Oxygen Or Sulfur-Condensed Heterocyclic Ring Systems (AREA)
FR8102490A 1980-12-18 1981-02-09 Procede de manipulation dans un espace de manipulation d'un objet a partir d'une position initiale, dispositif pour sa mise en oeuvre et pieces en comportant application Expired FR2499728B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SU1980/000200 WO1982002018A1 (fr) 1980-12-18 1980-12-18 Procede et dispositif de la determination d'un point par ses coordonnees

Publications (2)

Publication Number Publication Date
FR2499728A1 FR2499728A1 (fr) 1982-08-13
FR2499728B1 true FR2499728B1 (fr) 1986-01-03

Family

ID=21616691

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8102490A Expired FR2499728B1 (fr) 1980-12-18 1981-02-09 Procede de manipulation dans un espace de manipulation d'un objet a partir d'une position initiale, dispositif pour sa mise en oeuvre et pieces en comportant application

Country Status (7)

Country Link
US (1) US4483074A (fr)
JP (1) JPS57501948A (fr)
CH (1) CH657561A5 (fr)
DE (1) DE3050664C2 (fr)
FR (1) FR2499728B1 (fr)
GB (1) GB2104868B (fr)
WO (1) WO1982002018A1 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
PL142582B1 (en) * 1984-06-08 1987-11-30 Politechnika Warszawska Device for carrying out tool displacement relative to polar coordinates
GB2219533A (en) * 1988-05-27 1989-12-13 Kaunassk Polt Inst Antanasa Table positioning device for metal-cutting machine tools
US5102280A (en) * 1989-03-07 1992-04-07 Ade Corporation Robot prealigner
DE4016374C2 (de) * 1990-06-01 1994-01-13 Mico Ind Automation Vorrichtung zur Handhabung von Werkstücken, Montageteilen oder dergleichen
DE19634575B4 (de) * 1996-08-27 2004-03-04 Pritschow, Günter, Prof. Dr.-Ing. Dr.h.c.mult. Vorrichtung zur Erfassung der Position eines Werkzeug- und/oder eines Werkstückhalters
US6336374B1 (en) * 1997-01-14 2002-01-08 Asea Brown Boveri A.B. Device for relative displacement of two elements
US6540471B1 (en) 1997-01-14 2003-04-01 Abb Ab Device for relative displacement of two elements
FR2947623B1 (fr) * 2009-07-06 2012-12-07 Jean-Luc Pelizzari Appareil de mesure d'angle
DE102015212171B3 (de) * 2015-06-30 2016-06-30 Kuka Roboter Gmbh Verfahren zum Steuern eines Manipulatorsystems

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1210353A (en) * 1966-10-31 1970-10-28 Joachim Israel Schapiro Apparatus for guiding an operating member
US3665755A (en) * 1970-05-28 1972-05-30 American Standard Inc Method for measuring rate of fluid absorption of plaster molds
US3765755A (en) * 1971-10-18 1973-10-16 Kane Corp Du Microimage viewer
US3909600A (en) * 1972-06-26 1975-09-30 Cincinnati Milacron Inc Method and apparatus for controlling an automation along a predetermined path
JPS49118158A (fr) * 1973-03-17 1974-11-12
SE7507086L (sv) * 1974-06-21 1975-12-22 Siemens Ag Industrirobot
DE2723180C2 (de) * 1976-05-24 1983-03-10 Hitachi, Ltd., Tokyo Industrieroboter
DE2852821B1 (de) * 1978-12-07 1980-04-30 Walter Reis Maschinenbau, 8753 Obernburg Manipulator

Also Published As

Publication number Publication date
GB2104868A (en) 1983-03-16
DE3050664C2 (de) 1988-04-14
CH657561A5 (en) 1986-09-15
US4483074A (en) 1984-11-20
GB2104868B (en) 1985-11-06
DE3050664T1 (de) 1983-01-13
JPS57501948A (fr) 1982-11-04
FR2499728A1 (fr) 1982-08-13
WO1982002018A1 (fr) 1982-06-24

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Legal Events

Date Code Title Description
ST Notification of lapse