JPH0222401B2 - - Google Patents
Info
- Publication number
- JPH0222401B2 JPH0222401B2 JP6358980A JP6358980A JPH0222401B2 JP H0222401 B2 JPH0222401 B2 JP H0222401B2 JP 6358980 A JP6358980 A JP 6358980A JP 6358980 A JP6358980 A JP 6358980A JP H0222401 B2 JPH0222401 B2 JP H0222401B2
- Authority
- JP
- Japan
- Prior art keywords
- signal
- processing tool
- axis
- circuit
- effective length
- 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
Links
- 238000012545 processing Methods 0.000 claims description 101
- 238000003466 welding Methods 0.000 claims description 69
- 238000012937 correction Methods 0.000 claims description 65
- 230000008859 change Effects 0.000 claims description 34
- 230000033001 locomotion Effects 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 8
- 210000000707 wrist Anatomy 0.000 description 55
- 238000003754 machining Methods 0.000 description 17
- 230000036544 posture Effects 0.000 description 13
- 230000004044 response Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000005493 welding type Methods 0.000 description 1
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
- G05B19/18—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
- G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50353—Tool, probe inclination, orientation to surface, posture, attitude
Landscapes
- Engineering & Computer Science (AREA)
- Computing Systems (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6358980A JPS56159707A (en) | 1980-05-13 | 1980-05-13 | Controller of industrial robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6358980A JPS56159707A (en) | 1980-05-13 | 1980-05-13 | Controller of industrial robot |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS56159707A JPS56159707A (en) | 1981-12-09 |
JPH0222401B2 true JPH0222401B2 (ko) | 1990-05-18 |
Family
ID=13233600
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP6358980A Granted JPS56159707A (en) | 1980-05-13 | 1980-05-13 | Controller of industrial robot |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS56159707A (ko) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58137006A (ja) * | 1982-02-09 | 1983-08-15 | Komatsu Ltd | ロボツトの制御方式 |
JPS6055412A (ja) * | 1983-09-06 | 1985-03-30 | Fanuc Ltd | Νcデ−タ作成方法 |
JPS6126106A (ja) * | 1984-07-16 | 1986-02-05 | Fanuc Ltd | 工具位置補正方式 |
DE3666678D1 (en) * | 1986-02-25 | 1989-12-07 | Trallfa Robot As | Method and robot installation for programmed control of a working tool |
US7283889B2 (en) | 2003-02-19 | 2007-10-16 | Fanuc Ltd | Numerical control device, and numerical control method |
JP4875392B2 (ja) * | 2006-03-30 | 2012-02-15 | 株式会社ダイヘン | アーク溶接ロボット制御装置 |
JP2007275945A (ja) * | 2006-04-07 | 2007-10-25 | Asahi Glass Co Ltd | 三次元自由形状の造形物を製作する造形方法及びその装置 |
-
1980
- 1980-05-13 JP JP6358980A patent/JPS56159707A/ja active Granted
Also Published As
Publication number | Publication date |
---|---|
JPS56159707A (en) | 1981-12-09 |
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