IT1163194B - Metodo ed apparecchiatura per la programmazione di un robot - Google Patents

Metodo ed apparecchiatura per la programmazione di un robot

Info

Publication number
IT1163194B
IT1163194B IT20363/83A IT2036383A IT1163194B IT 1163194 B IT1163194 B IT 1163194B IT 20363/83 A IT20363/83 A IT 20363/83A IT 2036383 A IT2036383 A IT 2036383A IT 1163194 B IT1163194 B IT 1163194B
Authority
IT
Italy
Prior art keywords
robot
programming
equipment
Prior art date
Application number
IT20363/83A
Other languages
English (en)
Other versions
IT8320363A1 (it
IT8320363A0 (it
Inventor
Wolfgang Trautwein
Hans Joachim Boll
Original Assignee
Wagner Gmbh J
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 Wagner Gmbh J filed Critical Wagner Gmbh J
Publication of IT8320363A0 publication Critical patent/IT8320363A0/it
Publication of IT8320363A1 publication Critical patent/IT8320363A1/it
Application granted granted Critical
Publication of IT1163194B publication Critical patent/IT1163194B/it

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • G05B2219/36153—Two, several consoles, displays, panels, two different input, joystick
    • 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
    • G05B2219/36399—On excess error or on release joystick stop movement, dead man, shut off motors
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39468—Changeable hand, tool, code carrier, 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
    • G05B2219/45—Nc applications
    • G05B2219/45013—Spraying, coating, painting
    • 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
    • G05B2219/50042—Return to origin, reference point, zero point, homing
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2239/00—Miscellaneous
    • H01H2239/052—Strain gauge

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Spray Control Apparatus (AREA)
IT20363/83A 1982-03-31 1983-03-30 Metodo ed apparecchiatura per la programmazione di un robot IT1163194B (it)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19823211992 DE3211992A1 (de) 1982-03-31 1982-03-31 Verfahren und vorrichtung zum programmieren eines roboters, insbesondere farbspritzroboters

Publications (3)

Publication Number Publication Date
IT8320363A0 IT8320363A0 (it) 1983-03-30
IT8320363A1 IT8320363A1 (it) 1984-09-30
IT1163194B true IT1163194B (it) 1987-04-08

Family

ID=6159885

Family Applications (1)

Application Number Title Priority Date Filing Date
IT20363/83A IT1163194B (it) 1982-03-31 1983-03-30 Metodo ed apparecchiatura per la programmazione di un robot

Country Status (4)

Country Link
JP (1) JPS58181598A (it)
DE (1) DE3211992A1 (it)
IT (1) IT1163194B (it)
SE (1) SE8301697L (it)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4648783A (en) * 1984-11-06 1987-03-10 Patrick Tan Educational and laboratory work cell for a robotic device
DE8434357U1 (de) * 1984-11-23 1985-04-04 Richter, Hans, 8900 Augsburg Greiferhand bei einem manipulator
FR2582245A1 (fr) * 1985-05-24 1986-11-28 Etud Rech Meca Automat Centre Auxiliaire de commande a six degres de liberte avec rappel automatique en position de reference destine a l'apprentissage de trajectoire dans l'espace des coordonnees generalisees ou operationnelles des robots manipulateurs et des ensembles mecaniques polyarticules
DE3526958A1 (de) * 1985-07-27 1985-12-19 Daimler-Benz Ag, 7000 Stuttgart Im teach-in-verfahren programmierbarer lackierroboter
DE3606685A1 (de) * 1986-02-28 1987-09-03 Forsch Steuerungstechnik Der W Vorrichtung zur handfuehrung eines industrieroboters
US4735159A (en) * 1987-02-17 1988-04-05 Titan-Baratto Embroidery machine
JPS63318277A (ja) * 1987-06-19 1988-12-27 ファナック株式会社 水平ア−ム型多関節ロボットの上下軸直接教示方法と装置
JPS6487174A (en) * 1987-09-22 1989-03-31 Fanuc Ltd Controller for industrial robot
DE3810054A1 (de) * 1988-03-25 1989-10-05 Weck Manfred Prof Dr Ing Verfahren und vorrichtung zur bewegungsfuehrung von mehrachsigen manipulatoren
EP0346503B1 (de) * 1988-06-11 1992-07-01 Blomberg Robotertechnik GmbH Programmiergriff
US6365221B1 (en) * 1999-11-23 2002-04-02 Visions East, Inc. Computer controlled method and apparatus for fairing and painting of marine vessel surfaces
US6287389B1 (en) * 2000-06-23 2001-09-11 Ultrastrip Systems, Inc. Method of robotic automobile paint stripping
DE102004054867B4 (de) 2004-11-12 2018-03-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Mit sensorischer Intelligenz ausgestatteter Roboter
US20090259412A1 (en) * 2006-02-23 2009-10-15 Abb Ab system for controlling the position and orientation of an object in dependence on received forces and torques from a user
DE102008027008B4 (de) * 2008-06-06 2016-03-17 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern eines Manipulators
CN102239454B (zh) * 2008-12-17 2014-11-26 库卡实验室有限公司 用于在机械手的控制装置中输入指令的方法和设备
DE102008062622B9 (de) * 2008-12-17 2016-08-25 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Befehlseingabe in eine Steuerung eines Manipulators
DE102013019869B4 (de) * 2013-11-28 2022-01-13 Abb Schweiz Ag Roboterarm mit Eingabemodul
DE102014202145A1 (de) 2014-02-06 2015-08-06 Kuka Roboter Gmbh Verfahren zum Programmieren eines Industrieroboters und zugehörigerIndustrieroboter
DE102015117211B8 (de) * 2015-10-08 2016-12-29 Kastanienbaum GmbH Roboterarm mit Eingabeelementen
DE102015117306B4 (de) * 2015-10-12 2018-01-18 Toolmotion GmbH Mehrachs-Maus für einen Mehrachsroboter
AT518481B1 (de) * 2016-03-07 2018-09-15 Keba Ag System und Verfahren zur räumlichen Bewegung eines Objekts
TWI622865B (zh) 2016-04-29 2018-05-01 財團法人工業技術研究院 用於機器人的直覺式力量導引方法及其裝置
IT201600097482A1 (it) * 2016-09-28 2018-03-28 Gaiotto Automation S P A Metodo per il trattamento superficiale di un manufatto
IT201700025766A1 (it) * 2017-03-08 2018-09-08 Epistolio S R L Robot di verniciatura
DE102017007032B4 (de) * 2017-07-25 2021-03-25 Visiontools Bildanalyse Systeme Gmbh Verfahren und Vorrichtung zur Programmierung von Roboterposen
JP6730247B2 (ja) * 2017-11-28 2020-07-29 ファナック株式会社 ロボット操作装置
CN109732567A (zh) * 2018-12-29 2019-05-10 深圳市越疆科技有限公司 一种机械臂的手持示教方法和装置
US11950677B2 (en) 2019-02-28 2024-04-09 L'oreal Devices and methods for electrostatic application of cosmetics
EP4070753A1 (en) * 2021-04-09 2022-10-12 MinMaxMedical Handle for guiding a robotic arm of a computer-assisted surgery system and a surgical tool held by said robotic arm
IT202200002306A1 (it) * 2022-02-08 2023-08-08 Idea Prototipi Srl Organo di manovra rimovibile per il movimento di un dispositivo operatore automatico

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2841284C2 (de) * 1978-09-22 1982-04-15 H.A. Schlatter AG, Schlieren, Zürich Vorrichtung zum Programmieren eines Handhabungsgeräts
IT1129409B (it) * 1980-03-07 1986-06-04 Fiat Ricerche Trasduttore a sei gradi di liberta per convertire in segnali elettrici le forze ed i momenti applicati ad un organo mobile particolarmente al braccio mobile di un robot

Also Published As

Publication number Publication date
SE8301697L (sv) 1983-10-01
SE8301697D0 (sv) 1983-03-28
JPS58181598A (ja) 1983-10-24
IT8320363A1 (it) 1984-09-30
DE3211992A1 (de) 1983-10-06
IT8320363A0 (it) 1983-03-30

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