JPH01252389A - マニピュレータ及びその制御方法 - Google Patents

マニピュレータ及びその制御方法

Info

Publication number
JPH01252389A
JPH01252389A JP63080079A JP8007988A JPH01252389A JP H01252389 A JPH01252389 A JP H01252389A JP 63080079 A JP63080079 A JP 63080079A JP 8007988 A JP8007988 A JP 8007988A JP H01252389 A JPH01252389 A JP H01252389A
Authority
JP
Japan
Prior art keywords
joints
manipulator
joint
actuators
actuator
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.)
Granted
Application number
JP63080079A
Other languages
English (en)
Japanese (ja)
Other versions
JPH0532197B2 (en, 2012
Inventor
Hirohiko Arai
裕彦 荒井
Akira Tate
舘　▲あきら▼
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.)
National Institute of Advanced Industrial Science and Technology AIST
Original Assignee
Agency of Industrial Science and Technology
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 Agency of Industrial Science and Technology filed Critical Agency of Industrial Science and Technology
Priority to JP63080079A priority Critical patent/JPH01252389A/ja
Priority to US07/325,926 priority patent/US4928047A/en
Publication of JPH01252389A publication Critical patent/JPH01252389A/ja
Publication of JPH0532197B2 publication Critical patent/JPH0532197B2/ja
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • 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
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • 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
    • Y10S700/00—Data processing: generic control systems or specific applications
    • Y10S700/90—Special robot structural element

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
JP63080079A 1988-03-31 1988-03-31 マニピュレータ及びその制御方法 Granted JPH01252389A (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP63080079A JPH01252389A (ja) 1988-03-31 1988-03-31 マニピュレータ及びその制御方法
US07/325,926 US4928047A (en) 1988-03-31 1989-03-20 Manipulator and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP63080079A JPH01252389A (ja) 1988-03-31 1988-03-31 マニピュレータ及びその制御方法

Publications (2)

Publication Number Publication Date
JPH01252389A true JPH01252389A (ja) 1989-10-09
JPH0532197B2 JPH0532197B2 (en, 2012) 1993-05-14

Family

ID=13708210

Family Applications (1)

Application Number Title Priority Date Filing Date
JP63080079A Granted JPH01252389A (ja) 1988-03-31 1988-03-31 マニピュレータ及びその制御方法

Country Status (2)

Country Link
US (1) US4928047A (en, 2012)
JP (1) JPH01252389A (en, 2012)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110238817A (zh) * 2019-06-20 2019-09-17 中山市煜豹智能设备有限公司 六轴机器人
CN112743541A (zh) * 2020-12-21 2021-05-04 南京埃斯顿自动化股份有限公司 一种无力/力矩传感器机械臂软浮动控制方法

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JPH02178708A (ja) * 1988-12-28 1990-07-11 Fanuc Ltd 重力軸のブレーキ制御方式
JPH03178788A (ja) * 1989-12-06 1991-08-02 Hitachi Ltd マニピュレータの制御方法
US5377310A (en) * 1992-04-03 1994-12-27 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Controlling under-actuated robot arms using a high speed dynamics
US5704253A (en) * 1995-03-09 1998-01-06 Georgia Tech Research Corporation Trajectory guidance apparatus and method
US5710870A (en) * 1995-09-07 1998-01-20 California Institute Of Technology Decoupled six degree-of-freedom robot manipulator
US6639581B1 (en) * 1995-11-17 2003-10-28 Immersion Corporation Flexure mechanism for interface device
JPH106273A (ja) * 1996-06-20 1998-01-13 Matsushita Electric Ind Co Ltd 産業用ロボット
US6016385A (en) * 1997-08-11 2000-01-18 Fanu America Corp Real time remotely controlled robot
US6750900B1 (en) * 1998-07-23 2004-06-15 Eastman Kodak Company Method and apparatus for computing motion tracking parameters
JP3873717B2 (ja) * 2001-11-09 2007-01-24 ソニー株式会社 正極材料およびそれを用いた電池
DE10223670A1 (de) * 2002-05-28 2003-12-18 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Bewegen eines Handhabungssystems
US20080028880A1 (en) * 2006-08-01 2008-02-07 Asada H Harry Gravity driven underactuated robot arm for assembly operations inside an aircraft wing box
US7900333B2 (en) * 2007-04-26 2011-03-08 The Boeing Company Sealing bladderless system and method
DE102007055119B4 (de) * 2007-11-19 2016-04-28 Fft Edag Produktionssysteme Gmbh & Co. Kg Roboter mit variabel angeordnetem Werkzeug
JP2011119556A (ja) * 2009-12-07 2011-06-16 Yaskawa Electric Corp 水平多関節ロボットおよびそれを備えた搬送装置
DE202010008424U1 (de) * 2010-09-01 2011-12-06 Zasche Sitec Handling Gmbh Handhabungsgerät
DE102012003479A1 (de) * 2012-02-21 2013-08-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Ausführen eines Manipulatorprozesses
JP5746308B2 (ja) * 2013-11-26 2015-07-08 ファナック株式会社 ブレーキ落下量を低減する機能を備えたサーボ制御装置
DE102013020697B4 (de) * 2013-12-04 2023-07-06 Kuka Roboter Gmbh Verfahren und Steuermittel zum Steuern eines Roboters
EP3087004A1 (en) * 2013-12-26 2016-11-02 Airbus Aircraft part with robot arm
EP3682837B1 (en) * 2014-03-17 2023-09-27 Intuitive Surgical Operations, Inc. System and method for breakaway clutching in an articulated arm
US10226306B2 (en) 2014-10-27 2019-03-12 Intuitive Surgical Operations, Inc. System and method for integrated surgical table
KR102623373B1 (ko) 2014-10-27 2024-01-11 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블 운동을 위한 시스템 및 방법
JP6676060B2 (ja) 2014-10-27 2020-04-08 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 器具外乱補償のためのシステム及び方法
WO2016069650A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for integrated surgical table icons
CN107072728B (zh) 2014-10-27 2020-07-17 直观外科手术操作公司 用于在反应运动期间监测控制点的系统和方法
KR102476611B1 (ko) 2014-10-27 2022-12-12 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 테이블에 등록하기 위한 시스템 및 방법
KR102655083B1 (ko) * 2014-10-27 2024-04-08 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 브레이크 해제가 능동적으로 제어되는 의료 장치
CN106607929A (zh) * 2016-11-28 2017-05-03 广西大学 一种用于装配作业的双伺服驱动变自由度多杆式机械手臂
CN106607656A (zh) * 2016-11-28 2017-05-03 广西大学 一种采用双伺服电机驱动可变自由度多连杆焊接机械臂
CN106608530A (zh) * 2016-12-05 2017-05-03 广西大学 一种用于搬运作业的伺服驱动可变自由度连杆机构机械臂
CN106695876A (zh) * 2016-12-05 2017-05-24 广西大学 一种用于搬运作业的双伺服驱动变自由度多杆式机械臂
JP1612912S (en, 2012) * 2018-03-29 2018-09-03
JP1619125S (en, 2012) * 2018-03-29 2018-11-26
JP1612766S (en, 2012) * 2018-03-29 2018-09-03
JP1612908S (en, 2012) * 2018-03-29 2018-09-03
USD892881S1 (en) * 2018-03-29 2020-08-11 Daihen Corporation Power transmission unit and power receiving unit of an industrial robot arm
CN108656112B (zh) * 2018-05-15 2022-02-25 清华大学深圳研究生院 一种面向直接示教的机械臂零力控制实验系统
CN109849052B (zh) * 2018-12-20 2021-11-02 江苏集萃智能制造技术研究所有限公司 一种机器人关节柔顺停机方法
US12214488B2 (en) * 2019-09-03 2025-02-04 Shanghai Flexiv Robotics Technology Co., Ltd. Robotic arm and robot
CN113370218B (zh) * 2021-07-06 2021-11-26 浙大城市学院 基于离子聚合物金属复合材料柔性机械臂的无源控制方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57168886A (en) * 1981-04-07 1982-10-18 Nissan Motor Method of operating robot

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US4068156A (en) * 1977-03-01 1978-01-10 Martin Marietta Corporation Rate control system for manipulator arms
JPS5840761B2 (ja) * 1978-12-20 1983-09-07 工業技術院長 人間腕形マニピュレ−タの制御装置
DE3046156C2 (de) * 1980-12-06 1983-01-13 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Betätigungsvorrichtung für Scheibenbremsen
JPS57120112A (en) * 1980-12-22 1982-07-27 Fujitsu Ltd Locus control method of arm
JPS584377A (ja) * 1981-03-18 1983-01-11 株式会社安川電機 関節形産業用ロボツトの制御装置
JPS59108691A (ja) * 1982-12-13 1984-06-23 株式会社日立製作所 バランサ制御方式
DE3312862A1 (de) * 1983-04-09 1984-10-11 Blohm + Voss Ag, 2000 Hamburg Freiprogrammierbare, mehrachsige betaetigungsarmeinheit, insbesondere industrieroboter
US4547858A (en) * 1983-06-13 1985-10-15 Allied Corporation Dynamic control for manipulator
JPH0740204B2 (ja) * 1985-03-30 1995-05-01 株式会社東芝 多自由度非線形機械システムの制御装置

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57168886A (en) * 1981-04-07 1982-10-18 Nissan Motor Method of operating robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110238817A (zh) * 2019-06-20 2019-09-17 中山市煜豹智能设备有限公司 六轴机器人
CN112743541A (zh) * 2020-12-21 2021-05-04 南京埃斯顿自动化股份有限公司 一种无力/力矩传感器机械臂软浮动控制方法
CN112743541B (zh) * 2020-12-21 2022-03-04 南京埃斯顿自动化股份有限公司 一种无力/力矩传感器机械臂软浮动控制方法

Also Published As

Publication number Publication date
US4928047A (en) 1990-05-22
JPH0532197B2 (en, 2012) 1993-05-14

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