JPH0250483B2 - - Google Patents
Info
- Publication number
- JPH0250483B2 JPH0250483B2 JP8328383A JP8328383A JPH0250483B2 JP H0250483 B2 JPH0250483 B2 JP H0250483B2 JP 8328383 A JP8328383 A JP 8328383A JP 8328383 A JP8328383 A JP 8328383A JP H0250483 B2 JPH0250483 B2 JP H0250483B2
- Authority
- JP
- Japan
- Prior art keywords
- robot
- workpiece
- rotary table
- rotation
- measurement point
- 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
- 239000013598 vector Substances 0.000 claims description 87
- 238000000034 method Methods 0.000 claims description 59
- 238000005259 measurement Methods 0.000 claims description 58
- 230000008929 regeneration Effects 0.000 claims description 4
- 238000011069 regeneration method Methods 0.000 claims description 4
- 238000003466 welding Methods 0.000 description 56
- 238000004364 calculation method Methods 0.000 description 9
- 230000036544 posture Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 2
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 description 1
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 description 1
- YTAHJIFKAKIKAV-XNMGPUDCSA-N [(1R)-3-morpholin-4-yl-1-phenylpropyl] N-[(3S)-2-oxo-5-phenyl-1,3-dihydro-1,4-benzodiazepin-3-yl]carbamate Chemical compound O=C1[C@H](N=C(C2=C(N1)C=CC=C2)C1=CC=CC=C1)NC(O[C@H](CCN1CCOCC1)C1=CC=CC=C1)=O YTAHJIFKAKIKAV-XNMGPUDCSA-N 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002360 preparation method 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
- G05B19/42—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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8328383A JPS59206905A (ja) | 1983-05-11 | 1983-05-11 | Ｐｔｐ形ロボツトの作業軌跡教示方法 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8328383A JPS59206905A (ja) | 1983-05-11 | 1983-05-11 | Ｐｔｐ形ロボツトの作業軌跡教示方法 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59206905A JPS59206905A (ja) | 1984-11-22 |
| JPH0250483B2 true JPH0250483B2 (en]) | 1990-11-02 |
Family
ID=13798042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8328383A Granted JPS59206905A (ja) | 1983-05-11 | 1983-05-11 | Ｐｔｐ形ロボツトの作業軌跡教示方法 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59206905A (en]) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4598380A (en) * | 1984-08-13 | 1986-07-01 | Cincinnati Milacron Inc. | Method and apparatus for controlling manipulator and workpiece positioner |
| JPS63113605A (ja) * | 1986-10-30 | 1988-05-18 | Toyota Motor Corp | 同期型ロボツト装置の動作制御方法 |
| DE3774090D1 (de) * | 1986-11-17 | 1991-11-28 | Siemens Ag | Verfahren zum steuern der dreidimensionalen relativbewegung eines roboters gegenueber einem an einem werkstuecktraeger befestigten werkstueck. |
| JP2652789B2 (ja) * | 1987-12-05 | 1997-09-10 | ファナック 株式会社 | 円弧トラッキング制御方式 |
| JP2839277B2 (ja) * | 1989-02-03 | 1998-12-16 | ファナック株式会社 | ワーク座標系の設定方法 |
-
1983
- 1983-05-11 JP JP8328383A patent/JPS59206905A/ja active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59206905A (ja) | 1984-11-22 |
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