JPS52106563A - Manipulator - Google Patents

Manipulator

Info

Publication number
JPS52106563A
JPS52106563A JP2327477A JP2327477A JPS52106563A JP S52106563 A JPS52106563 A JP S52106563A JP 2327477 A JP2327477 A JP 2327477A JP 2327477 A JP2327477 A JP 2327477A JP S52106563 A JPS52106563 A JP S52106563A
Authority
JP
Japan
Prior art keywords
manipulator
simplify
indication
corresponds
memory device
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
JP2327477A
Other languages
English (en)
Other versions
JPS6129004B2 (ja
Inventor
Jiei Danne Moorisu
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.)
Kawasaki Heavy Industries Ltd
Original Assignee
Kawasaki Heavy Industries 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 Kawasaki Heavy Industries Ltd filed Critical Kawasaki Heavy Industries Ltd
Publication of JPS52106563A publication Critical patent/JPS52106563A/ja
Publication of JPS6129004B2 publication Critical patent/JPS6129004B2/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
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • 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
    • G05B19/409—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 using manual input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details, by setting parameters
    • 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
    • G05B19/4093—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
    • G05B19/40931—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine concerning programming of geometry
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34236—Multiplex for servos, actuators
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34244—Multiplex for control only
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35426—Prepare, enter next program during execution of actual program, machining
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36056—Modify program, machining order in real time, during operation, dynamically
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36078—Insert, read in new command instruction to modify fixed program
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36088—Machining parameters, overide
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
JP2327477A 1976-03-03 1977-03-03 Manipulator Granted JPS52106563A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/663,481 US4140953A (en) 1976-03-03 1976-03-03 Real time program modification apparatus

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP59206065A Division JPS60105008A (ja) 1976-03-03 1984-10-01 マニピユレ−タにおけるプログラム修正装置

Publications (2)

Publication Number Publication Date
JPS52106563A true JPS52106563A (en) 1977-09-07
JPS6129004B2 JPS6129004B2 (ja) 1986-07-03

Family

ID=24662002

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2327477A Granted JPS52106563A (en) 1976-03-03 1977-03-03 Manipulator
JP59206065A Granted JPS60105008A (ja) 1976-03-03 1984-10-01 マニピユレ−タにおけるプログラム修正装置

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP59206065A Granted JPS60105008A (ja) 1976-03-03 1984-10-01 マニピユレ−タにおけるプログラム修正装置

Country Status (8)

Country Link
US (1) US4140953A (ja)
JP (2) JPS52106563A (ja)
CA (1) CA1071316A (ja)
DE (1) DE2709335A1 (ja)
FR (1) FR2342826A1 (ja)
GB (1) GB1575418A (ja)
IT (1) IT1080007B (ja)
SE (2) SE444782B (ja)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5524881A (en) * 1978-08-24 1980-02-22 Toyoda Mach Works Ltd Numerical control device
WO1982003282A1 (en) * 1981-03-23 1982-09-30 Nozawa Ryoichiro Numerical control system
JPS59188704A (ja) * 1983-04-12 1984-10-26 Amada Co Ltd Ｎｃ機器の作動デ−タ修正方法
JPS60175105A (ja) * 1984-02-20 1985-09-09 Fanuc Ltd 通路生成方法
JPS61290506A (ja) * 1985-06-19 1986-12-20 Toyoda Mach Works Ltd 数値制御デ−タ修正機能を備えた数値制御装置
JPS6222107A (ja) * 1985-07-22 1987-01-30 Fanuc Ltd Ｎｃデ−タ作成方法
JPS62131306A (ja) * 1985-12-04 1987-06-13 Shin Meiwa Ind Co Ltd 産業用ロボツトにおける制御方法
WO1990006836A1 (en) * 1988-12-12 1990-06-28 Fanuc Ltd Robot operation method that can be manually corrected
WO1990011166A1 (fr) * 1989-03-20 1990-10-04 Fanuc Ltd Procede d'intervention manuelle pour un robot industriel
JPH0592805U (ja) * 1993-02-10 1993-12-17 日野自動車工業株式会社 工作機械の制御装置

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USRE31208E (en) * 1974-12-26 1983-04-12 Unimation, Inc. Signal modification device for memory controlled manipulator apparatus
US4447697A (en) * 1978-03-28 1984-05-08 Unimation, Inc. Weld gun repositioning system for programmable manipulator
JPS5858682B2 (ja) * 1978-04-26 1983-12-27 ファナック株式会社 産業用ロボツトの制御方式
DE2851063A1 (de) * 1978-11-25 1980-06-04 Cloos Gmbh Carl Vorrichtung zur automatischen fuehrung einer schweisspistole laengs einer vorprogrammierten schweissnaht
US4385358A (en) * 1979-10-19 1983-05-24 Tokico Ltd. Robot
NO810726L (no) * 1980-03-05 1981-09-07 Thermwood Corp Industrirobot.
US4362977A (en) * 1980-06-30 1982-12-07 International Business Machines Corporation Method and apparatus for calibrating a robot to compensate for inaccuracy of the robot
JPS5750279A (en) * 1980-09-10 1982-03-24 Komatsu Ltd Robot for welding having multilayer welding function
JPS5769312A (en) * 1980-10-13 1982-04-28 Fanuc Ltd Numerical controller incorporating optional block skipping function
US4379335A (en) * 1980-10-28 1983-04-05 Auto-Place, Inc. Electronic controller and portable programmer system for a pneumatically-powered point-to-point robot
JPS5785674A (en) * 1980-11-17 1982-05-28 Komatsu Ltd Copying corrector for welding robot
US4456863A (en) * 1980-12-23 1984-06-26 Cleveland Machine Controls, Inc. Apparatus for automatic calibration of servo response
JPS57113116A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57113107A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57113115A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
US4368412A (en) * 1981-02-04 1983-01-11 Inoue-Japax Research Incorporated Microprocessor-controlled motor drive control system
US4403281A (en) * 1981-04-03 1983-09-06 Cincinnati Milacron Industries, Inc. Apparatus for dynamically controlling the tool centerpoint of a robot arm off a predetermined path
JPS58161828A (ja) * 1982-03-22 1983-09-26 Nippon Steel Corp 金属位置検出方法
JPS584382A (ja) * 1981-06-26 1983-01-11 ファナック株式会社 工業用ロボツトの制御方式
US4433382A (en) * 1981-07-20 1984-02-21 Cincinnati Milacron Inc. Apparatus for automatically adjusting the programmed location of a robot arm
US4458321A (en) * 1981-08-19 1984-07-03 The Charles Stark Draper Laboratory, Inc. Self-teaching robot feedback system
JPS5858607A (ja) * 1981-10-05 1983-04-07 Sankyo Seiki Mfg Co Ltd プリセツト式ロボツトにおけるポイント測定方式
US4432063A (en) * 1981-10-06 1984-02-14 Cincinnati Milacron Inc. Apparatus for automatically moving a robot arm along a nonprogrammed path
JPS58132439A (ja) * 1982-02-02 1983-08-06 Yamazaki Mazak Corp 数値制御工作機械における加工プログラムの修正制御方法
US4484294A (en) * 1982-03-03 1984-11-20 Nordson Corporation Method and apparatus for modification of a prerecorded programmed sequence of motions during execution thereof by a robot
US4486843A (en) * 1982-03-03 1984-12-04 Nordson Corporation Transitional command position modification for a controller
US4481591A (en) * 1982-03-03 1984-11-06 Nordson Corporation Method and apparatus for modifying a prerecorded sequence of ON/OFF commands for controlling a bistable device operating in conjunction with a moving robot under program control
JPS58171243A (ja) * 1982-03-29 1983-10-07 Fanuc Ltd 数値制御装置
US4581893A (en) * 1982-04-19 1986-04-15 Unimation, Inc. Manipulator apparatus with energy efficient control
US4453221A (en) * 1982-05-13 1984-06-05 Cincinnati Milacron Inc. Manipulator with adaptive velocity controlled path motion
JPS58206389A (ja) * 1982-05-28 1983-12-01 日産自動車株式会社 ロボツトの制御装置
SE452719B (sv) * 1982-06-29 1987-12-14 Asea Ab Industrirobot
CA1184273A (en) * 1982-09-23 1985-03-19 Kazuyoshi Yasukawa Robot control apparatus
JPS5960506A (ja) * 1982-09-29 1984-04-06 Fanuc Ltd 数値制御システム
JPS5985513A (ja) * 1982-11-06 1984-05-17 Ricoh Co Ltd サ−ボ系の動作時間調整装置
JPS59114609A (ja) * 1982-12-22 1984-07-02 Hitachi Ltd ロボットの制御装置
JPS59153207A (ja) * 1983-02-21 1984-09-01 Mitsubishi Electric Corp ロボツトの制御装置
US4494060A (en) * 1983-03-02 1985-01-15 Anorad Corporation Axis controller for robotic actuator
US4510428A (en) * 1983-03-25 1985-04-09 Unimation, Inc. Control system for manipulator apparatus with initializing stabilization and inertia scaling
JPS59231607A (ja) * 1983-06-14 1984-12-26 Mitsubishi Electric Corp ロボツトの制御装置
SE8304100L (sv) * 1983-07-22 1985-01-23 Ibm Svenska Ab System for automatisk kalibrering av rymdkoordinaterna hos en robotgripper i sex frihetsgrader
JPH0631527B2 (ja) * 1985-04-30 1994-04-27 マツダ株式会社 さく岩機のブ−ム位置決め装置
DE3532213A1 (de) * 1985-09-10 1987-05-07 Leifeld & Co Verfahren zum betreiben einer numerisch gesteuerten drueckmaschine sowie drueckmaschine zur durchfuehrung dieses verfahrens
US4748552A (en) * 1986-05-28 1988-05-31 Goro Kikuchi Sequence control system
JP2681630B2 (ja) * 1986-08-16 1997-11-26 ファナック 株式会社 オーバライドプレイバック方式
US4986724A (en) * 1987-11-10 1991-01-22 Cincinnati Milacron Inc. System for compensated motion of coupled robot axes
BG48961A1 (en) * 1988-08-16 1991-07-15 Instit T Za Kompleksna Avtom N Periphery control device
JPH02277102A (ja) * 1989-04-18 1990-11-13 Toshiba Mach Co Ltd 数値制御工作機械における加工プログラムティーチング方式
JP2862036B2 (ja) * 1991-09-17 1999-02-24 三菱電機株式会社 数値制御装置
US5255571A (en) * 1992-06-25 1993-10-26 United Parcel Service Of America, Inc. Three degree of freedom actuator system
JP3053501B2 (ja) * 1992-10-20 2000-06-19 ファナック株式会社 ロボットの位置教示方法
US5375066A (en) * 1993-03-01 1994-12-20 The United States Of America As Represented By The Secretary Of Commerce Apparatus and methods for implementing error correction in real time for machine tools with encoder-type position feedback
EP1501181A3 (en) * 1995-06-06 2005-07-13 The Chamberlain Group, Inc. Movable barrier operator having force and position learning capability
IT1296576B1 (it) * 1997-11-27 1999-07-14 Promau Srl Apparecchiatura automatica per la curvatura di lamiere, con controllo selettivo digitale
JP4203696B2 (ja) * 1999-10-20 2009-01-07 株式会社安川電機 産業用機械の動作確認方法および装置
US7908652B1 (en) 2001-12-21 2011-03-15 Trapware Corporation Detection of observers and countermeasures against observers
US8176551B1 (en) * 2000-01-27 2012-05-08 Trapware Corporation Detection of observer programs and countermeasures against observer programs
DE102005047204A1 (de) * 2005-10-01 2007-04-05 Daimlerchrysler Ag Verfahren zur Programmierung eines Industrieroboters
US8612886B2 (en) * 2007-09-28 2013-12-17 Rockwell Automation Technologies, Inc. Sequential function chart (SFC) online editing without reset
US9841749B2 (en) * 2014-04-01 2017-12-12 Bot & Dolly, Llc Runtime controller for robotic manufacturing system
US9278449B1 (en) 2014-05-21 2016-03-08 Bot & Dolly, Llc Closed-loop control system for robotic operation
US9555545B2 (en) 2014-05-21 2017-01-31 Bot & Dolly, Llc Systems and methods for time-based parallel robotic operation
US9435446B1 (en) 2014-07-24 2016-09-06 Google Inc. Rotary valve with brake mode
US9611946B1 (en) 2015-08-17 2017-04-04 Google Inc. Rotary hydraulic valve
DE102015016255A1 (de) * 2015-12-15 2017-06-22 Kuka Roboter Gmbh Iteratives Programmieren eines Prozesses einer beweglichen Maschine, insbesondere eines Roboters
US9665099B1 (en) 2015-12-31 2017-05-30 Google Inc. Integrated valve for a legged robot
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5524881A (en) * 1978-08-24 1980-02-22 Toyoda Mach Works Ltd Numerical control device
JPS6145246B2 (ja) * 1978-08-24 1986-10-07 Toyoda Machine Works Ltd
WO1982003282A1 (en) * 1981-03-23 1982-09-30 Nozawa Ryoichiro Numerical control system
JPS59188704A (ja) * 1983-04-12 1984-10-26 Amada Co Ltd Ｎｃ機器の作動デ−タ修正方法
JPS60175105A (ja) * 1984-02-20 1985-09-09 Fanuc Ltd 通路生成方法
JPS61290506A (ja) * 1985-06-19 1986-12-20 Toyoda Mach Works Ltd 数値制御デ−タ修正機能を備えた数値制御装置
JPS6222107A (ja) * 1985-07-22 1987-01-30 Fanuc Ltd Ｎｃデ−タ作成方法
JPS62131306A (ja) * 1985-12-04 1987-06-13 Shin Meiwa Ind Co Ltd 産業用ロボツトにおける制御方法
WO1990006836A1 (en) * 1988-12-12 1990-06-28 Fanuc Ltd Robot operation method that can be manually corrected
WO1990011166A1 (fr) * 1989-03-20 1990-10-04 Fanuc Ltd Procede d'intervention manuelle pour un robot industriel
JPH0592805U (ja) * 1993-02-10 1993-12-17 日野自動車工業株式会社 工作機械の制御装置

Also Published As

Publication number Publication date
FR2342826A1 (fr) 1977-09-30
GB1575418A (en) 1980-09-24
FR2342826B1 (ja) 1983-11-10
JPS60105008A (ja) 1985-06-10
SE8505935D0 (sv) 1985-12-16
SE444782B (sv) 1986-05-12
SE461118B (sv) 1990-01-08
JPS6130284B2 (ja) 1986-07-12
CA1071316A (en) 1980-02-05
DE2709335A1 (de) 1977-09-15
JPS6129004B2 (ja) 1986-07-03
SE8505935L (sv) 1985-12-16
US4140953A (en) 1979-02-20
SE7702297L (sv) 1977-09-04
DE2709335C2 (ja) 1988-01-28
IT1080007B (it) 1985-05-16

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