GB2027938B - Off-line teach assist apparatus and on-line control apparatus - Google Patents

Off-line teach assist apparatus and on-line control apparatus

Info

Publication number
GB2027938B
GB2027938B GB7913798A GB7913798A GB2027938B GB 2027938 B GB2027938 B GB 2027938B GB 7913798 A GB7913798 A GB 7913798A GB 7913798 A GB7913798 A GB 7913798A GB 2027938 B GB2027938 B GB 2027938B
Authority
GB
United Kingdom
Prior art keywords
line
control apparatus
teach assist
line control
teach
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
GB7913798A
Other versions
GB2027938A (en
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.)
Unimation Inc
Original Assignee
Unimation Inc
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 Unimation Inc filed Critical Unimation Inc
Publication of GB2027938A publication Critical patent/GB2027938A/en
Application granted granted Critical
Publication of GB2027938B publication Critical patent/GB2027938B/en
Expired legal-status Critical Current

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
    • G05B19/42—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • 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
    • 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
    • G05B19/4182—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 manipulators and conveyor only
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39133—Convert teached program for fixed workpiece to program for moving workpiece
    • 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)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Fuzzy Systems (AREA)
  • Evolutionary Computation (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
GB7913798A 1978-04-20 1979-04-20 Off-line teach assist apparatus and on-line control apparatus Expired GB2027938B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US89811278A 1978-04-20 1978-04-20

Publications (2)

Publication Number Publication Date
GB2027938A GB2027938A (en) 1980-02-27
GB2027938B true GB2027938B (en) 1982-10-06

Family

ID=25408963

Family Applications (1)

Application Number Title Priority Date Filing Date
GB7913798A Expired GB2027938B (en) 1978-04-20 1979-04-20 Off-line teach assist apparatus and on-line control apparatus

Country Status (4)

Country Link
JP (1) JPS54141972A (en)
AU (1) AU520285B2 (en)
CA (1) CA1119279A (en)
GB (1) GB2027938B (en)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4420812A (en) * 1979-09-14 1983-12-13 Tokico, Ltd. Teaching- playback robot
IT1144709B (en) * 1981-05-15 1986-10-29 Dea Spa DIMENSIONAL MEASUREMENT SYSTEM SERVED BY A MULTIPLE OF OPERATING ARMS AND CONTROLLED BY A CALCULATOR SYSTEM
IT1144707B (en) * 1981-05-15 1986-10-29 Dea Spa OPERATING ARM UNIT CONTROLLED BY A COMPUTER SYSTEM
IT1144708B (en) * 1981-05-15 1986-10-29 Dea Spa INDUSTRIAL PRODUCTION SYSTEM SERVED BY A PLURALITY OF OPERATING ARMS AND CONTROLLED BY A CALCULATOR SYSTEM
EP0075325B1 (en) * 1981-09-22 1988-12-14 Kabushiki Kaisha Sankyo Seiki Seisakusho Control apparatus and method for industrial robot
JPS5858607A (en) * 1981-10-05 1983-04-07 Sankyo Seiki Mfg Co Ltd Point measuring system of preset type robot
JPS58143981A (en) * 1982-02-19 1983-08-26 株式会社日立製作所 Method of controlling industrial robot
CA1184273A (en) * 1982-09-23 1985-03-19 Kazuyoshi Yasukawa Robot control apparatus
JPS59223812A (en) * 1983-06-02 1984-12-15 Nippon Denshi Kagaku Kk Robot controller
JPS603009A (en) * 1983-06-20 1985-01-09 Nippon Denshi Kagaku Kk Robot controller
JPS60134306A (en) * 1983-12-21 1985-07-17 Fujitsu Denso Ltd Program developing device for automatic parts inserting system
JPS62295893A (en) * 1986-06-17 1987-12-23 フアナツク株式会社 Control system of robot
JP2707087B2 (en) * 1987-09-09 1998-01-28 ファナック株式会社 Robot controller
AU602996B2 (en) * 1987-10-23 1990-11-01 Mitsubishi Jukogyo Kabushiki Kaisha Control systems of an industrial robot
JP2511072B2 (en) * 1987-10-23 1996-06-26 三菱重工業株式会社 Recording / playback method of teaching data in robot
JP2512099B2 (en) * 1988-08-24 1996-07-03 松下電器産業株式会社 Robot motion teaching method and control device
US5079491A (en) * 1989-05-23 1992-01-07 Honda Giken Kogyo Kabushiki Kaisha Robot control system
US7627394B2 (en) 2005-12-20 2009-12-01 Kuka Roboter Gmbh Robot trajectory control including emergency evacuation path system and method

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5325779A (en) * 1976-08-23 1978-03-09 Hitachi Seiko Ltd Speed operating method in numeric control unit
US4086522A (en) * 1976-09-08 1978-04-25 Unimation, Inc. Computer assisted teaching arrangement for conveyor line operation

Also Published As

Publication number Publication date
AU520285B2 (en) 1982-01-21
GB2027938A (en) 1980-02-27
JPS54141972A (en) 1979-11-05
CA1119279A (en) 1982-03-02
AU4530079A (en) 1979-10-25

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Legal Events

Date Code Title Description
PCNP Patent ceased through non-payment of renewal fee