JPS54141972A - Programmed manipulator - Google Patents

Programmed manipulator

Info

Publication number
JPS54141972A
JPS54141972A JP4962879A JP4962879A JPS54141972A JP S54141972 A JPS54141972 A JP S54141972A JP 4962879 A JP4962879 A JP 4962879A JP 4962879 A JP4962879 A JP 4962879A JP S54141972 A JPS54141972 A JP S54141972A
Authority
JP
Japan
Prior art keywords
arm
offline
directive
manipulator arm
time
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.)
Pending
Application number
JP4962879A
Other languages
Japanese (ja)
Inventor
Paazurii Uiriamu
Min Ien Chien Yun
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 JPS54141972A publication Critical patent/JPS54141972A/en
Pending 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39133—Convert teached program for fixed workpiece to program for moving workpiece
    • 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
    • G05B2219/45213—Integrated manufacturing system ims, transfer line, machining center
    • 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]

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Evolutionary Computation (AREA)
  • Software Systems (AREA)
  • Mathematical Physics (AREA)
  • Fuzzy Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Artificial Intelligence (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

PURPOSE: To minimize the computing time of online real time by previously computing the optimal fixed locus for the movement of manipulator arm with the offline directive auxiliary device.
CONSTITUTION: During an offline directive mode, the manipulator arm 11 is moved over the whole workings to apply themselves to a work piece. The offline directive auxiliary unit 30 feeds the data of manipulator arm position as the input, computes a fixed locus of the manipulation arm to work in least time on the base of maximal movement ability of the arm 11, and stores it in the control memory 16. During a regenerative working cycle, the online control unit 14 provides output signals of position, velocity and accelaration of the manipulation arm according to the data read from the control memroy 16.
COPYRIGHT: (C)1979,JPO&Japio
JP4962879A 1978-04-20 1979-04-19 Programmed manipulator Pending JPS54141972A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US89811278A 1978-04-20 1978-04-20

Publications (1)

Publication Number Publication Date
JPS54141972A true JPS54141972A (en) 1979-11-05

Family

ID=25408963

Family Applications (1)

Application Number Title Priority Date Filing Date
JP4962879A Pending JPS54141972A (en) 1978-04-20 1979-04-19 Programmed manipulator

Country Status (4)

Country Link
JP (1) JPS54141972A (en)
AU (1) AU520285B2 (en)
CA (1) CA1119279A (en)
GB (1) GB2027938B (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59223812A (en) * 1983-06-02 1984-12-15 Nippon Denshi Kagaku Kk Robot controller
JPS603009A (en) * 1983-06-20 1985-01-09 Nippon Denshi Kagaku Kk Robot controller
JPS60134306A (en) * 1983-12-21 1985-07-17 Fujitsu Denso Ltd Program developing device for automatic parts inserting system
JPS62295893A (en) * 1986-06-17 1987-12-23 フアナツク株式会社 Control system of robot
JPS6467611A (en) * 1987-09-09 1989-03-14 Fanuc Ltd Robot controller

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4420812A (en) * 1979-09-14 1983-12-13 Tokico, Ltd. Teaching- playback robot
IT1144707B (en) * 1981-05-15 1986-10-29 Dea Spa OPERATING ARM UNIT CONTROLLED BY A COMPUTER SYSTEM
IT1144708B (en) * 1981-05-15 1986-10-29 Dea Spa INDUSTRIAL PRODUCTION SYSTEM SERVED BY A PLURALITY OF OPERATING ARMS AND CONTROLLED BY A CALCULATOR SYSTEM
IT1144709B (en) * 1981-05-15 1986-10-29 Dea Spa DIMENSIONAL MEASUREMENT SYSTEM SERVED BY A MULTIPLE OF OPERATING ARMS AND CONTROLLED BY A CALCULATOR SYSTEM
KR890002438B1 (en) * 1981-09-22 1989-07-03 구보다 미노루 Control apparatus and method for industrial robot
JPS5858607A (en) * 1981-10-05 1983-04-07 Sankyo Seiki Mfg Co Ltd Point measuring system of preset type robot
JPS58143981A (en) * 1982-02-19 1983-08-26 株式会社日立製作所 Method of controlling industrial robot
CA1184273A (en) * 1982-09-23 1985-03-19 Kazuyoshi Yasukawa Robot control apparatus
AU602996B2 (en) * 1987-10-23 1990-11-01 Mitsubishi Jukogyo Kabushiki Kaisha Control systems of an industrial robot
JP2511072B2 (en) * 1987-10-23 1996-06-26 三菱重工業株式会社 Recording / playback method of teaching data in robot
JP2512099B2 (en) * 1988-08-24 1996-07-03 松下電器産業株式会社 Robot motion teaching method and control device
US5079491A (en) * 1989-05-23 1992-01-07 Honda Giken Kogyo Kabushiki Kaisha Robot control system
US7627394B2 (en) 2005-12-20 2009-12-01 Kuka Roboter Gmbh Robot trajectory control including emergency evacuation path system and method

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5325779A (en) * 1976-08-23 1978-03-09 Hitachi Seiko Ltd Speed operating method in numeric control unit
JPS5334269A (en) * 1976-09-08 1978-03-30 Kawasaki Heavy Ind Ltd Manipulator capable of being programmed and its programming method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5325779A (en) * 1976-08-23 1978-03-09 Hitachi Seiko Ltd Speed operating method in numeric control unit
JPS5334269A (en) * 1976-09-08 1978-03-30 Kawasaki Heavy Ind Ltd Manipulator capable of being programmed and its programming method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59223812A (en) * 1983-06-02 1984-12-15 Nippon Denshi Kagaku Kk Robot controller
JPS603009A (en) * 1983-06-20 1985-01-09 Nippon Denshi Kagaku Kk Robot controller
JPS60134306A (en) * 1983-12-21 1985-07-17 Fujitsu Denso Ltd Program developing device for automatic parts inserting system
JPS62295893A (en) * 1986-06-17 1987-12-23 フアナツク株式会社 Control system of robot
JPS6467611A (en) * 1987-09-09 1989-03-14 Fanuc Ltd Robot controller

Also Published As

Publication number Publication date
GB2027938A (en) 1980-02-27
AU520285B2 (en) 1982-01-21
AU4530079A (en) 1979-10-25
CA1119279A (en) 1982-03-02
GB2027938B (en) 1982-10-06

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