JPH0426992B2 - - Google Patents

Info

Publication number
JPH0426992B2
JPH0426992B2 JP59261482A JP26148284A JPH0426992B2 JP H0426992 B2 JPH0426992 B2 JP H0426992B2 JP 59261482 A JP59261482 A JP 59261482A JP 26148284 A JP26148284 A JP 26148284A JP H0426992 B2 JPH0426992 B2 JP H0426992B2
Authority
JP
Japan
Prior art keywords
force
hand
output
control
force sensor
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
JP59261482A
Other languages
English (en)
Japanese (ja)
Other versions
JPS61142087A (ja
Inventor
Kazuo Asakawa
Nobuhiko Onda
Tadashi Akita
Tooru Kamata
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.)
Fujitsu Ltd
Original Assignee
Fujitsu Ltd
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 Fujitsu Ltd filed Critical Fujitsu Ltd
Priority to JP59261482A priority Critical patent/JPS61142087A/ja
Priority to CA000475684A priority patent/CA1233222A/en
Priority to AU39516/85A priority patent/AU565086B2/en
Priority to ES541087A priority patent/ES8609758A1/es
Priority to NO850927A priority patent/NO172314C/no
Priority to DE8585301624T priority patent/DE3584462D1/de
Priority to EP85301624A priority patent/EP0159131B1/en
Priority to KR1019850001538A priority patent/KR890005033B1/ko
Publication of JPS61142087A publication Critical patent/JPS61142087A/ja
Priority to US07/078,008 priority patent/US4791588A/en
Publication of JPH0426992B2 publication Critical patent/JPH0426992B2/ja
Granted legal-status Critical Current

Links

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
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39194—Compensation gravity
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40087—Align hand on workpiece to pick up workpiece, peg and hole
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42092—Position and force control loop together

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
JP59261482A 1984-03-09 1984-12-11 物体の運搬制御方式 Granted JPS61142087A (ja)

Priority Applications (9)

Application Number Priority Date Filing Date Title
JP59261482A JPS61142087A (ja) 1984-12-11 1984-12-11 物体の運搬制御方式
CA000475684A CA1233222A (en) 1984-03-09 1985-03-04 Movable apparatus driving system
AU39516/85A AU565086B2 (en) 1984-03-09 1985-03-05 A movable apparatus driving system
DE8585301624T DE3584462D1 (de) 1984-03-09 1985-03-08 Antriebssystem fuer eine bewegbare vorrichtung.
NO850927A NO172314C (no) 1984-03-09 1985-03-08 Drivsystem for et bevegelig apparat
ES541087A ES8609758A1 (es) 1984-03-09 1985-03-08 Una instalacion de accionamiento de aparatos moviles, de aplicacion a robots
EP85301624A EP0159131B1 (en) 1984-03-09 1985-03-08 Drive system for a movable apparatus
KR1019850001538A KR890005033B1 (ko) 1984-03-09 1985-03-11 가동장치 구동시스템
US07/078,008 US4791588A (en) 1984-03-09 1987-07-24 Movable apparatus driving system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59261482A JPS61142087A (ja) 1984-12-11 1984-12-11 物体の運搬制御方式

Publications (2)

Publication Number Publication Date
JPS61142087A JPS61142087A (ja) 1986-06-28
JPH0426992B2 true JPH0426992B2 (enrdf_load_stackoverflow) 1992-05-08

Family

ID=17362516

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59261482A Granted JPS61142087A (ja) 1984-03-09 1984-12-11 物体の運搬制御方式

Country Status (1)

Country Link
JP (1) JPS61142087A (enrdf_load_stackoverflow)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5910491B2 (ja) * 2012-12-28 2016-04-27 トヨタ自動車株式会社 ロボットアーム教示システム及びロボットアーム教示方法
JP7145700B2 (ja) * 2018-09-06 2022-10-03 株式会社東芝 ハンド制御装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5911513B2 (ja) * 1976-09-03 1984-03-15 謙郎 元田 荷役運搬機
JPS5615990A (en) * 1979-07-17 1981-02-16 Kobe Steel Ltd Gravity denying device for vertical driving shaft in industrial robot
JPS59192491A (ja) * 1983-04-15 1984-10-31 株式会社日立製作所 組立用治具と力センサとを兼ねる組込形直接教示装置

Also Published As

Publication number Publication date
JPS61142087A (ja) 1986-06-28

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