JP5847164B2 - 自動化作業セルを制御するための方法 - Google Patents

自動化作業セルを制御するための方法 Download PDF

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Publication number
JP5847164B2
JP5847164B2 JP2013509604A JP2013509604A JP5847164B2 JP 5847164 B2 JP5847164 B2 JP 5847164B2 JP 2013509604 A JP2013509604 A JP 2013509604A JP 2013509604 A JP2013509604 A JP 2013509604A JP 5847164 B2 JP5847164 B2 JP 5847164B2
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Prior art keywords
robot arm
control
motor
control center
command
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Japanese (ja)
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JP2013526418A (ja
JP2013526418A5 (enExample
Inventor
ジョリ・リュク
ボネ・デ・テュヴ・ジャン・ミシェル
ペルティン・フランソア
ヴォー・ジェラル
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シュトイブリー・ファベルゲ
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    • 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
    • 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
    • B25J9/023—Cartesian coordinate type
    • 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
    • G05B19/18—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
    • G05B19/408—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 characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • 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
    • G05B19/408—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 characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4086—Coordinate conversions; Other special calculations
    • 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
    • G05B2219/33273—DCS distributed, decentralised controlsystem, multiprocessor
    • 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
    • G05B2219/39253—Virtual arm, has end effector on any joint of real manipulator
    • 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
    • G05B2219/39384—Control unit near robot, control and teaching panel in safe zone
    • 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
    • G05B2219/39408—Integrated structure and control design
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm
    • Y10S901/23—Electric motor

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Fuzzy Systems (AREA)
  • Evolutionary Computation (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
JP2013509604A 2010-05-14 2011-05-13 自動化作業セルを制御するための方法 Active JP5847164B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1053769 2010-05-14
FR1053769A FR2960074B1 (fr) 2010-05-14 2010-05-14 Procede de commande d'une cellule de travail automatisee
PCT/FR2011/051076 WO2011141683A1 (fr) 2010-05-14 2011-05-13 Procédé de commande d'une cellule de travail automatisée

Publications (3)

Publication Number Publication Date
JP2013526418A JP2013526418A (ja) 2013-06-24
JP2013526418A5 JP2013526418A5 (enExample) 2014-11-13
JP5847164B2 true JP5847164B2 (ja) 2016-01-20

Family

ID=42668907

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2013509604A Active JP5847164B2 (ja) 2010-05-14 2011-05-13 自動化作業セルを制御するための方法

Country Status (11)

Country Link
US (1) US20130131864A1 (enExample)
EP (1) EP2569130B2 (enExample)
JP (1) JP5847164B2 (enExample)
KR (1) KR101839772B1 (enExample)
CN (1) CN102985233B (enExample)
BR (1) BR112012029107B1 (enExample)
DK (1) DK2569130T4 (enExample)
ES (1) ES2458430T5 (enExample)
FR (1) FR2960074B1 (enExample)
PT (1) PT2569130E (enExample)
WO (1) WO2011141683A1 (enExample)

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FR2960075B1 (fr) * 2010-05-14 2012-06-15 Staubli Sa Ets Procede de commande d'une cellule de travail automatisee
JP6332900B2 (ja) 2012-08-31 2018-05-30 セイコーエプソン株式会社 ロボットシステム及びロボット制御装置
JP2014205198A (ja) * 2013-04-10 2014-10-30 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
JP2014205197A (ja) 2013-04-10 2014-10-30 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
BR112015028382A2 (pt) * 2013-05-14 2017-07-25 Mitsubishi Electric Corp dispositivo de controle numérico
JP6354122B2 (ja) 2013-06-05 2018-07-11 セイコーエプソン株式会社 ロボット
FR3021574B1 (fr) * 2014-05-27 2019-04-05 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Manipulateur cobotique
CN104440910B (zh) * 2014-11-07 2016-05-04 绵阳市维博电子有限责任公司 一种实现机器人双手臂同步控制的方法及系统
FR3038245B1 (fr) * 2015-06-30 2017-12-29 Staubli Sa Ets Procede de commande d'une cellule de travail automatisee
JP6108645B1 (ja) * 2016-01-31 2017-04-05 貴司 徳田 モーターモジュールシステム
JP6859675B2 (ja) * 2016-11-21 2021-04-14 セイコーエプソン株式会社 ロボット、及びロボットシステム
US11554461B1 (en) 2018-02-13 2023-01-17 Omax Corporation Articulating apparatus of a waterjet system and related technology
KR102055502B1 (ko) 2018-05-30 2019-12-12 (주) 로보라이즌 모듈러 로봇 시스템
KR102069794B1 (ko) * 2018-05-30 2020-01-23 (주) 로보라이즌 모듈러 로봇 시스템
FR3097565B1 (fr) * 2019-06-19 2022-08-12 Staubli Sa Ets Machine textile, métier à tisser comportant une telle machine textile et procédés associés
JP7437910B2 (ja) 2019-10-29 2024-02-26 株式会社東芝 制御システム、制御方法、ロボットシステム、プログラム、及び記憶媒体

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Also Published As

Publication number Publication date
ES2458430T5 (es) 2017-11-20
DK2569130T3 (da) 2014-04-22
CN102985233B (zh) 2015-07-01
DK2569130T4 (en) 2017-09-25
ES2458430T3 (es) 2014-05-05
JP2013526418A (ja) 2013-06-24
KR20130027523A (ko) 2013-03-15
FR2960074B1 (fr) 2012-06-15
US20130131864A1 (en) 2013-05-23
EP2569130B2 (fr) 2017-07-26
WO2011141683A1 (fr) 2011-11-17
FR2960074A1 (fr) 2011-11-18
BR112012029107B1 (pt) 2020-12-29
KR101839772B1 (ko) 2018-03-19
PT2569130E (pt) 2014-07-10
EP2569130B1 (fr) 2014-04-02
CN102985233A (zh) 2013-03-20
EP2569130A1 (fr) 2013-03-20

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