JPH0413117B2 - - Google Patents

Info

Publication number
JPH0413117B2
JPH0413117B2 JP62074248A JP7424887A JPH0413117B2 JP H0413117 B2 JPH0413117 B2 JP H0413117B2 JP 62074248 A JP62074248 A JP 62074248A JP 7424887 A JP7424887 A JP 7424887A JP H0413117 B2 JPH0413117 B2 JP H0413117B2
Authority
JP
Japan
Prior art keywords
robot
torque command
motor torque
shaft
threshold
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 - Lifetime
Application number
JP62074248A
Other languages
English (en)
Japanese (ja)
Other versions
JPS63245388A (ja
Inventor
Kenichi Toyoda
Nobutoshi Torii
Akira Nihei
Akihiro Terada
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Priority to JP62074248A priority Critical patent/JPS63245388A/ja
Priority to PCT/JP1988/000193 priority patent/WO1988007442A1/ja
Priority to EP88902200A priority patent/EP0310672A1/en
Priority to US07/283,991 priority patent/US4904911A/en
Publication of JPS63245388A publication Critical patent/JPS63245388A/ja
Priority to KR1019880701489A priority patent/KR890700440A/ko
Publication of JPH0413117B2 publication Critical patent/JPH0413117B2/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
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-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
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
    • 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
    • B25J13/085—Force or torque sensors
    • 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
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-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
    • 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—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/406—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 program data in numerical form characterised by monitoring or safety
    • G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
JP62074248A 1987-03-30 1987-03-30 産業ロボットにおける運動の阻害事態の警報装置 Granted JPS63245388A (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP62074248A JPS63245388A (ja) 1987-03-30 1987-03-30 産業ロボットにおける運動の阻害事態の警報装置
PCT/JP1988/000193 WO1988007442A1 (fr) 1987-03-30 1988-02-24 Organe de commande de robot
EP88902200A EP0310672A1 (en) 1987-03-30 1988-02-24 Robot controller
US07/283,991 US4904911A (en) 1987-03-30 1988-02-24 System for controlling robot
KR1019880701489A KR890700440A (ko) 1987-03-30 1988-11-18 로보트 제어장치

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62074248A JPS63245388A (ja) 1987-03-30 1987-03-30 産業ロボットにおける運動の阻害事態の警報装置

Publications (2)

Publication Number Publication Date
JPS63245388A JPS63245388A (ja) 1988-10-12
JPH0413117B2 true JPH0413117B2 (https=) 1992-03-06

Family

ID=13541669

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62074248A Granted JPS63245388A (ja) 1987-03-30 1987-03-30 産業ロボットにおける運動の阻害事態の警報装置

Country Status (5)

Country Link
US (1) US4904911A (https=)
EP (1) EP0310672A1 (https=)
JP (1) JPS63245388A (https=)
KR (1) KR890700440A (https=)
WO (1) WO1988007442A1 (https=)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2581797B2 (ja) * 1989-04-27 1997-02-12 オ−クマ株式会社 同期制御方法及びその装置
US5081593A (en) * 1989-08-16 1992-01-14 Megamation Incorporated Method and apparatus for monitoring and controlling linear motor robot apparatus and the like
KR940001205B1 (ko) * 1991-04-15 1994-02-17 삼성전자 주식회사 로보트 시스템의 위치제어장치 및 그 제어방법
KR0168068B1 (ko) * 1992-10-19 1999-03-20 윤종용 위치제어시스템의 위치정보 판별장치 및 그 판별방법
US5318496A (en) * 1993-04-19 1994-06-07 Amada Engineering And Service Co., Inc. Method and apparatus for automatically exchanging a punch for a turret punch press
JP3288250B2 (ja) * 1997-03-25 2002-06-04 ファナック株式会社 ロボット制御装置
DE29806822U1 (de) * 1998-04-16 1999-09-09 KUKA Schweissanlagen GmbH, 86165 Augsburg Einrichtung zur Qualitätsüberwachung für Bearbeitungseinrichtungen für Werkstücke
JP2001129776A (ja) * 1999-11-05 2001-05-15 Fanuc Ltd センサを使った検出線に対する追従装置
JP2007251088A (ja) * 2006-03-20 2007-09-27 Tokyo Electron Ltd 縦型熱処理装置及び縦型熱処理装置における移載機構の制御方法
JP4451854B2 (ja) * 2006-03-20 2010-04-14 東京エレクトロン株式会社 縦型熱処理装置及び縦型熱処理装置における移載機構の制御方法
US9071110B2 (en) 2012-10-16 2015-06-30 Eht International Inc. Abnormality detection method and apparatus
US9625898B2 (en) 2014-03-31 2017-04-18 Honda Motor Co., Ltd. Feedback control system having servomechanism monitoring system and methods of monitoring servomechanisms
JP6264430B2 (ja) * 2016-11-09 2018-01-24 オムロン株式会社 サーボシステムおよびセーフティユニット
CA3020501A1 (en) 2017-10-12 2019-04-12 Consumer Safety Technology, Llc Dual sensor types in breath alcohol detection
US11427083B2 (en) 2020-07-27 2022-08-30 Consumer Safety Technology, Llc Method and system of deploying ignition interlock device functionality

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4182979A (en) * 1978-02-03 1980-01-08 Giddings & Lewis, Inc. D-C. electric torquing system
JPS5633249A (en) * 1979-08-24 1981-04-03 Fanuc Ltd Synchronous operation control system for electric motor
US4346444A (en) * 1980-03-20 1982-08-24 Rohr Industries, Inc. Constant thrust adaptive control machine tool
JPS5778391A (en) * 1980-10-30 1982-05-17 Yaskawa Electric Mfg Co Ltd Controlling device for induction motor
JPS5840285A (ja) * 1981-08-31 1983-03-09 株式会社東芝 電動マニプレ−タ
JPS5846413A (ja) * 1981-09-14 1983-03-17 Hitachi Ltd 電気サ−ボ機構
JPS6126484A (ja) * 1984-07-16 1986-02-05 Mitsubishi Electric Corp 産業機械の制御装置
JPS6170612A (ja) * 1984-09-13 1986-04-11 Shinko Electric Co Ltd 産業用ロボツトの制御装置
JPH063994B2 (ja) * 1984-10-05 1994-01-12 株式会社日立製作所 複数台デイジタルサーボの制御方法
JPS61236487A (ja) * 1985-04-10 1986-10-21 株式会社東芝 産業用ロボツトの制御装置
US4659976A (en) * 1985-04-24 1987-04-21 Dresser Industries, Inc. Method and apparatus for maximizing utilization of an electric motor under load
JPH0773861B2 (ja) * 1985-04-26 1995-08-09 ファナック株式会社 サーボモータで駆動される射出成形機の駆動制御方法
JPS62124925A (ja) * 1985-11-27 1987-06-06 Fanuc Ltd 射出成形機における計量方法
US4807153A (en) * 1986-11-20 1989-02-21 Unimation Inc. Multiaxis digital robot control having a backup velocity monitor and protection system
ZA935525B (en) * 1992-08-06 1994-02-24 De Beers Ind Diamond Tool insert
JPH06126484A (ja) * 1992-10-19 1994-05-10 Tokai Rika Co Ltd はんだ

Also Published As

Publication number Publication date
US4904911A (en) 1990-02-27
WO1988007442A1 (fr) 1988-10-06
JPS63245388A (ja) 1988-10-12
KR890700440A (ko) 1989-04-24
EP0310672A1 (en) 1989-04-12

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