IT8149572A0 - Impianto di comando per apparato manipolatore - Google Patents

Impianto di comando per apparato manipolatore

Info

Publication number
IT8149572A0
IT8149572A0 IT8149572A IT4957281A IT8149572A0 IT 8149572 A0 IT8149572 A0 IT 8149572A0 IT 8149572 A IT8149572 A IT 8149572A IT 4957281 A IT4957281 A IT 4957281A IT 8149572 A0 IT8149572 A0 IT 8149572A0
Authority
IT
Italy
Prior art keywords
control system
manipulative
equipment
manipulative equipment
control
Prior art date
Application number
IT8149572A
Other languages
English (en)
Other versions
IT1171609B (it
Inventor
B W Pollard William Perzley
Stanley J Blanchard
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 IT8149572A0 publication Critical patent/IT8149572A0/it
Application granted granted Critical
Publication of IT1171609B publication Critical patent/IT1171609B/it

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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • 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
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
    • 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
    • G05B2219/33—Director till display
    • G05B2219/33337—For each axis a processor, microprocessor
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37388—Acceleration or deceleration, inertial measurement
    • 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
    • G05B2219/39178—Compensation inertia arms
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41309—Hydraulic or pneumatic drive
    • 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
    • G05B2219/42171—Velocity profile, variable gain, multiplication factors, rom ram
    • 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
    • G05B2219/45083—Manipulators, robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Computer Hardware Design (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
IT49572/81A 1980-10-27 1981-10-26 Impianto di comando per apparato manipolatore IT1171609B (it)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/201,181 US4362978A (en) 1980-10-27 1980-10-27 Control system for manipulator apparatus

Publications (2)

Publication Number Publication Date
IT8149572A0 true IT8149572A0 (it) 1981-10-26
IT1171609B IT1171609B (it) 1987-06-10

Family

ID=22744808

Family Applications (1)

Application Number Title Priority Date Filing Date
IT49572/81A IT1171609B (it) 1980-10-27 1981-10-26 Impianto di comando per apparato manipolatore

Country Status (8)

Country Link
US (1) US4362978A (it)
JP (1) JPS57114386A (it)
CA (1) CA1167948A (it)
DE (1) DE3142406C2 (it)
FR (1) FR2494462B1 (it)
GB (1) GB2086085B (it)
IT (1) IT1171609B (it)
SE (1) SE452569B (it)

Families Citing this family (57)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5769315A (en) * 1980-10-13 1982-04-28 Fanuc Ltd Control system of industrial robot
JPS57173486A (en) * 1981-04-15 1982-10-25 Fujitsu Fanuc Ltd Controlling system for robot
FR2516843B1 (fr) * 1981-11-24 1985-10-25 Calhene Dispositif d'actionnement et son application a un asservissement de position pour un telemanipulateur maitre-esclave
US4488241A (en) * 1981-12-08 1984-12-11 Zymark Corporation Robot system with interchangeable hands
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
US4581893A (en) * 1982-04-19 1986-04-15 Unimation, Inc. Manipulator apparatus with energy efficient control
US4543517A (en) * 1982-08-30 1985-09-24 Kubik, Incorporated Electronic position and velocity control system with cold start compensation
EP0108511A3 (en) * 1982-11-04 1985-12-18 EMI Limited Improvements in or relating to robot control systems
US4510428A (en) * 1983-03-25 1985-04-09 Unimation, Inc. Control system for manipulator apparatus with initializing stabilization and inertia scaling
JPS59197901A (ja) * 1983-04-25 1984-11-09 Canon Inc 運動制御装置
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
DE3336854C2 (de) * 1983-10-11 1986-01-16 Dr. Johannes Heidenhain Gmbh, 8225 Traunreut Tasteinrichtung zur Ermittlung von Lage und/oder Abmessungen eines Prüfobjekts
DE3340946A1 (de) * 1983-11-11 1985-05-23 Siemens AG, 1000 Berlin und 8000 München Handhabungseinrichtung, insbesondere industrieroboter, mit mindestens einem sensor
JPS60171464A (ja) * 1984-02-17 1985-09-04 Yaskawa Electric Mfg Co Ltd モータまたはモータで駆動される移動体の速度検出方式
USRE32854E (en) * 1984-06-04 1989-02-07 Eoa Systems, Inc. Adapter with modular components for a robot end-of-arm interchangeable tooling system
US4611377A (en) * 1984-06-04 1986-09-16 Eoa Systems, Inc. Interchangeable robot end-of-arm tooling system
US4676142A (en) * 1984-06-04 1987-06-30 Eoa Systems, Inc. Adapter with modular components for a robot end-of-arm interchangeable tooling system
US4603284A (en) * 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
US4598380A (en) * 1984-08-13 1986-07-01 Cincinnati Milacron Inc. Method and apparatus for controlling manipulator and workpiece positioner
US4710884A (en) * 1984-12-19 1987-12-01 Hitachi Construction Machinery Co., Ltd. Device for compensating for deflection in a pliable positioning apparatus
JPS61150686A (ja) * 1984-12-25 1986-07-09 Fanuc Ltd サ−ボモ−タ制御方式
US5187656A (en) * 1984-12-25 1993-02-16 Fanuc Ltd. Servomotor drive control system
JPH0631527B2 (ja) * 1985-04-30 1994-04-27 マツダ株式会社 さく岩機のブ−ム位置決め装置
US4683772A (en) * 1985-07-25 1987-08-04 Westinghouse Electric Corp. Hand gear train with three degrees of freedom
US5136227A (en) * 1985-09-10 1992-08-04 Agency Of Industrial Science & Technology, Ministry Of International Trade & Industry Active gravity compensation device for force control system
US5103404A (en) * 1985-12-06 1992-04-07 Tensor Development, Inc. Feedback for a manipulator
US4891764A (en) * 1985-12-06 1990-01-02 Tensor Development Inc. Program controlled force measurement and control system
US4973215A (en) * 1986-02-18 1990-11-27 Robotics Research Corporation Industrial robot with servo
FR2600120B1 (fr) * 1986-06-12 1990-06-29 Bertin & Cie Procede et dispositif d'asservissement en position d'un verin pneumatique
JPS6327904A (ja) * 1986-07-22 1988-02-05 Hitachi Ltd サ−ボ機構装置の位置修正制御方式
DE3782795T2 (de) * 1986-09-29 1993-06-09 Asea Ab Verfahren und vorrichtung zur optimalen parameterregelung von reglern, die rotierende und/oder lineare bewegungen eines industrieroboters steuern.
US4786847A (en) * 1986-11-20 1988-11-22 Unimation Inc. Digital control for multiaxis robots
US4773025A (en) * 1986-11-20 1988-09-20 Unimation, Inc. Multiaxis robot control having curve fitted path control
US4807153A (en) * 1986-11-20 1989-02-21 Unimation Inc. Multiaxis digital robot control having a backup velocity monitor and protection system
EP0268491A3 (en) * 1986-11-20 1988-08-03 Unimation Inc. Multiaxis robot having improved motion control
EP0269374A3 (en) * 1986-11-20 1988-08-24 Unimation Inc. Modular robot control system
EP0269372A3 (en) * 1986-11-20 1988-08-17 Unimation Inc. Robot with micro processor-based digital robot control
EP0268490A3 (en) * 1986-11-20 1988-08-24 Unimation Inc. Digital robot control having improved arm joint motor control and feedback torque current sensing systems
US4812725A (en) * 1987-10-16 1989-03-14 Anwar Chitayat Positioning device with dual linear motor
JPH01177980A (ja) * 1988-01-09 1989-07-14 Fanuc Ltd 設置姿勢に応じた動作条件自動設定機能を備えた産業用ロボット
US4908777A (en) * 1988-01-27 1990-03-13 Storage Technology Corporation Robot arm calibration system
US4925312A (en) * 1988-03-21 1990-05-15 Staubli International Ag Robot control system having adaptive feedforward torque control for improved accuracy
US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms
US5047700A (en) * 1988-03-23 1991-09-10 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Universal computer control system for motors
JP2930302B2 (ja) * 1988-04-06 1999-08-03 ソニー株式会社 制御データ発生装置
JP2676793B2 (ja) * 1988-06-30 1997-11-17 トヨタ自動車株式会社 倣い制御ロボット
DE69029566T2 (de) * 1989-11-30 1997-04-24 Hewlett Packard Co Fehlerkorrektur in einem Kassettenbehandlungssystem
US5546508A (en) * 1992-04-03 1996-08-13 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Controlling flexible robot arms using high speed dynamics process
CA2081519C (en) * 1992-10-27 2000-09-05 The University Of Toronto Parametric control device
EP0640902A3 (en) * 1993-08-26 1996-11-06 Faro Technologies Method for programming multi-axis devices controlled by computer.
US5394323A (en) * 1994-03-29 1995-02-28 The University Of British Columbia Path error control system
GB2312390A (en) * 1996-04-23 1997-10-29 Clf International Limited Techniques and apparatus for cutting a workpiece
DE69814198T2 (de) * 1997-02-10 2004-04-08 Mitutoyo Corp., Kawasaki Messverfahren und Messinstrument mit Triggersonde
US6025686A (en) * 1997-07-23 2000-02-15 Harnischfeger Corporation Method and system for controlling movement of a digging dipper
US6450755B1 (en) * 1998-07-10 2002-09-17 Equipe Technologies Dual arm substrate handling robot with a batch loader
US6442534B1 (en) * 1999-02-23 2002-08-27 Rockwell Automation Technologies, Inc. Hydraulic controller using multiple regime specific controllers combined with fuzzy logic
US20110295268A1 (en) * 2010-05-28 2011-12-01 Hansen Medical, Inc. System and method for automated master input scaling

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US154439A (en) * 1874-08-25 Improvement in railway-switches
US3661051A (en) * 1969-03-18 1972-05-09 Unimation Inc Programmed manipulator apparatus
US3876873A (en) * 1971-06-07 1975-04-08 Haudaille Ind Inc Machine tool control system and method
US4156835A (en) * 1974-05-29 1979-05-29 Massachusetts Institute Of Technology Servo-controlled mobility device
JPS51114578A (en) * 1975-03-31 1976-10-08 Shin Meiwa Ind Co Ltd Method and device for automatic position control
JPS52104676A (en) * 1976-02-26 1977-09-02 Shin Meiwa Ind Co Ltd Method and apparatus for position control
US4086522A (en) * 1976-09-08 1978-04-25 Unimation, Inc. Computer assisted teaching arrangement for conveyor line operation
US4132937A (en) * 1976-10-18 1979-01-02 Unimation, Inc. Programmable manipulator with dynamic feedback apparatus for stabilization
JPS5362288A (en) * 1976-11-16 1978-06-03 Mitsubishi Electric Corp Speed control system for movable body
US4258301A (en) * 1977-10-21 1981-03-24 Ricoh Company, Ltd. Servo motor apparatus
US4243923A (en) * 1979-01-22 1981-01-06 Massachusetts Institute Of Technology Servo-controlled mobility device
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming

Also Published As

Publication number Publication date
US4362978A (en) 1982-12-07
CA1167948A (en) 1984-05-22
DE3142406C2 (de) 1986-01-02
GB2086085A (en) 1982-05-06
GB2086085B (en) 1984-08-08
FR2494462A1 (fr) 1982-05-21
IT1171609B (it) 1987-06-10
SE8106292L (sv) 1982-04-28
SE452569B (sv) 1987-12-07
FR2494462B1 (fr) 1985-09-13
DE3142406A1 (de) 1982-07-29
JPS57114386A (en) 1982-07-16

Similar Documents

Publication Publication Date Title
IT8149572A0 (it) Impianto di comando per apparato manipolatore
IT1138241B (it) Apparecchiatura di controllo per un servosistema doppio
DE3278012D1 (de) Enclosure pressurisation control system
GB2081484B (en) Vehicle-running control system
FI803426L (fi) System foer utdelning av sedlar
GB2073912B (en) Control system
FI803333L (fi) System foer hyttelement i fartyg
JPS5788586A (en) Cash-synonym control system
AT380116B (de) Fernwirksystem
DK218782A (da) Sproejtestyresystem
DK156336C (da) Temperaturstyreanlaeg
DK155510C (da) Belastningsaffoelende styresystem
DE3176123D1 (de) Antiskidsystem
DK93982A (da) Ultra-overvaagningssystem
DK197981A (da) Analysesystem
GB2093608B (en) Robot control system
IT1142347B (it) Apparecchio di controllo di spinta per aeroplani
JPS57125429A (en) Control system
AT385364B (de) Redundantes steuersystem
IL62597A (en) Adaptive-predictive control system
DK129884A (da) Datastyresystem
IT1159296B (it) Dispositivo di comando per assali
IT8068928A0 (it) Sistema di comando per ascensori
IT1211056B (it) Dispositivo di comando motore di carreggiamento per manipolatore da fucinatura.
IT1135499B (it) Sistema di controllo