GB1532927A - Method and apparatus for generating position or path control programmes using force feedback - Google Patents
Method and apparatus for generating position or path control programmes using force feedbackInfo
- Publication number
- GB1532927A GB1532927A GB2413177A GB2413177A GB1532927A GB 1532927 A GB1532927 A GB 1532927A GB 2413177 A GB2413177 A GB 2413177A GB 2413177 A GB2413177 A GB 2413177A GB 1532927 A GB1532927 A GB 1532927A
- Authority
- GB
- United Kingdom
- Prior art keywords
- clamp
- force
- movement
- path control
- program
- 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
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
1532927 Program controlled manipulator BENDIX CORP 9 June 1977 [26 July 1976] 24131/77 Heading G3N A program controlled manipulator 10 has a load cell 42 between the manipulator clamp 38 and arm 28 for measuring force and sensors 22, 36 for the arm movement. To generate a desired control program, the clamp is moved manually and the sensed movement and force used to generate command signals to move the clamp and reduce the force. The sensed movement signals are then stored to form a program which controls subsequent non-manual movement. Digital or analog circuitry may be used.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US70852176A | 1976-07-26 | 1976-07-26 |
Publications (1)
Publication Number | Publication Date |
---|---|
GB1532927A true GB1532927A (en) | 1978-11-22 |
Family
ID=24846113
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB2413177A Expired GB1532927A (en) | 1976-07-26 | 1977-06-09 | Method and apparatus for generating position or path control programmes using force feedback |
Country Status (6)
Country | Link |
---|---|
JP (1) | JPS5314281A (en) |
CA (1) | CA1080828A (en) |
DE (1) | DE2728395A1 (en) |
FR (1) | FR2360117A1 (en) |
GB (1) | GB1532927A (en) |
IT (1) | IT1081643B (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4642540A (en) * | 1982-11-04 | 1987-02-10 | Emi Limited | Robot control systems |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS54106776A (en) * | 1978-02-10 | 1979-08-22 | Fanuc Ltd | Positioning device |
DE7828226U1 (en) * | 1978-09-22 | 1987-01-02 | H.A. Schlatter AG, Schlieren, Zürich | Device for programming a handling device |
US4283764A (en) * | 1979-10-12 | 1981-08-11 | Nordson Corporation | Manually programmable robot with power-assisted motion during programming |
JPS57173486A (en) * | 1981-04-15 | 1982-10-25 | Fujitsu Fanuc Ltd | Controlling system for robot |
JPS57199484A (en) * | 1981-06-01 | 1982-12-07 | Okuma Mach Works Ltd | Controller for synchronous motor |
DE3240251A1 (en) * | 1982-10-30 | 1984-05-03 | Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln | METHOD FOR PROGRAMMING MOVEMENTS AND, IF REQUIRED, MACHINING FORCES OR -MOMENTS OF A ROBOT OR MANIPULATOR AND DEVICE FOR CARRYING OUT THIS |
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 |
AU3583084A (en) * | 1983-12-10 | 1985-06-13 | Aida Engineering Ltd. | Playback grinding robot |
JPH0748162B2 (en) * | 1984-03-09 | 1995-05-24 | 富士通株式会社 | Teaching method for article processing apparatus |
JPH0612490B2 (en) * | 1985-04-22 | 1994-02-16 | 日産自動車株式会社 | Robot controller |
JPS61264408A (en) * | 1985-05-20 | 1986-11-22 | Fujitsu Ltd | Teaching control system for object moving device |
JPS61269712A (en) * | 1985-05-24 | 1986-11-29 | Fujitsu Ltd | Teaching control method for automatic working device |
DE4129152A1 (en) * | 1991-09-02 | 1993-04-08 | Fraunhofer Ges Forschung | Position control for robotic working arm with damage protection for workpieces - has sensors to provide position dependent signals and to monitor pressure on tools |
CN102848391A (en) * | 2012-09-20 | 2013-01-02 | 北京邮电大学 | Four-channel bilateral teleoperation control system based on actual force feedback |
-
1977
- 1977-04-27 CA CA277,127A patent/CA1080828A/en not_active Expired
- 1977-06-09 GB GB2413177A patent/GB1532927A/en not_active Expired
- 1977-06-21 FR FR7718948A patent/FR2360117A1/en active Granted
- 1977-06-24 DE DE19772728395 patent/DE2728395A1/en not_active Withdrawn
- 1977-07-20 JP JP8617577A patent/JPS5314281A/en active Pending
- 1977-07-22 IT IT2602077A patent/IT1081643B/en active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4642540A (en) * | 1982-11-04 | 1987-02-10 | Emi Limited | Robot control systems |
Also Published As
Publication number | Publication date |
---|---|
FR2360117B1 (en) | 1980-12-19 |
DE2728395A1 (en) | 1978-02-02 |
JPS5314281A (en) | 1978-02-08 |
IT1081643B (en) | 1985-05-21 |
FR2360117A1 (en) | 1978-02-24 |
CA1080828A (en) | 1980-07-01 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PS | Patent sealed | ||
PCNP | Patent ceased through non-payment of renewal fee |