JPS57113118A - Robot control system - Google Patents

Robot control system

Info

Publication number
JPS57113118A
JPS57113118A JP55186751A JP18675180A JPS57113118A JP S57113118 A JPS57113118 A JP S57113118A JP 55186751 A JP55186751 A JP 55186751A JP 18675180 A JP18675180 A JP 18675180A JP S57113118 A JPS57113118 A JP S57113118A
Authority
JP
Japan
Prior art keywords
current
limit value
driving
robot control
robot
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
JP55186751A
Other languages
English (en)
Inventor
Hajime Inaba
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
Fujitsu Fanuc 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 Fanuc Corp, Fujitsu Fanuc Ltd filed Critical Fanuc Corp
Priority to JP55186751A priority Critical patent/JPS57113118A/ja
Priority to US06/334,926 priority patent/US4475160A/en
Priority to DE19813151831 priority patent/DE3151831A1/de
Priority to GB8139051A priority patent/GB2092776B/en
Publication of JPS57113118A publication Critical patent/JPS57113118A/ja
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
    • G05B19/18—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
    • G05B19/406—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 programme data in numerical form characterised by monitoring or safety
    • G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37285—Load, current taken by motor
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37525—Mean, average values, statistical derived values
    • 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
    • G05B2219/42268—Safety, excess in error
    • 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
JP55186751A 1980-12-30 1980-12-30 Robot control system Pending JPS57113118A (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP55186751A JPS57113118A (en) 1980-12-30 1980-12-30 Robot control system
US06/334,926 US4475160A (en) 1980-12-30 1981-12-28 Method of sensing abnormal condition in robot control apparatus
DE19813151831 DE3151831A1 (de) 1980-12-30 1981-12-29 Verfahren zum ermitteln eines abnormalen zustands in einer robotersteuerung
GB8139051A GB2092776B (en) 1980-12-30 1981-12-30 Method of sensing abnormal condition in robot control apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP55186751A JPS57113118A (en) 1980-12-30 1980-12-30 Robot control system

Publications (1)

Publication Number Publication Date
JPS57113118A true JPS57113118A (en) 1982-07-14

Family

ID=16194002

Family Applications (1)

Application Number Title Priority Date Filing Date
JP55186751A Pending JPS57113118A (en) 1980-12-30 1980-12-30 Robot control system

Country Status (4)

Country Link
US (1) US4475160A (ja)
JP (1) JPS57113118A (ja)
DE (1) DE3151831A1 (ja)
GB (1) GB2092776B (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms
US5047700A (en) * 1988-03-23 1991-09-10 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Universal computer control system for motors

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58125110A (ja) * 1982-01-21 1983-07-26 Fanuc Ltd ロボツト制御方式
DE3205672A1 (de) * 1982-02-17 1983-08-25 Siemens AG, 1000 Berlin und 8000 München Sicherheitsschaltung fuer freiprogrammierbare industrieroboter
JPS58177289A (ja) * 1982-04-12 1983-10-17 株式会社三協精機製作所 工業用ロボツトの動作制御装置
JPS5995610A (ja) * 1982-11-22 1984-06-01 Fanuc Ltd 状態表示部を備えた制御装置
JPS59107884A (ja) * 1982-12-10 1984-06-22 株式会社日立製作所 ロボツトの制御方式
US4574633A (en) * 1983-02-04 1986-03-11 Citizen Watch Company Limited Apparatus for detecting tool damage in automatically controlled machine tool
USRE32854E (en) * 1984-06-04 1989-02-07 Eoa Systems, Inc. Adapter with modular components for a robot end-of-arm interchangeable tooling system
US4611377A (en) * 1984-06-04 1986-09-16 Eoa Systems, Inc. Interchangeable robot end-of-arm tooling system
US4676142A (en) * 1984-06-04 1987-06-30 Eoa Systems, Inc. Adapter with modular components for a robot end-of-arm interchangeable tooling system
JPS61143803A (ja) * 1984-12-17 1986-07-01 Toshiba Corp ロボツトの制御装置
US4815007A (en) * 1984-12-20 1989-03-21 Seiko Epson Corporation Apparatus for controlling a robot
US4864206A (en) * 1986-11-20 1989-09-05 Westinghouse Electric Corp. Multiaxis robot control having improved energy monitoring system for protecting robots against joint motor overload
US4851748A (en) * 1986-11-20 1989-07-25 Westinghouse Electric Corp. Basic digital multi-axis robot control having modular performance expansion capability
US4902944A (en) * 1986-11-20 1990-02-20 Staubli International Ag. Digital robot control having an improved current sensing system for power amplifiers in a digital robot control
JPS63199088A (ja) * 1987-02-16 1988-08-17 Mitsubishi Electric Corp 産業用ロボツトの制御装置
JPS63206804A (ja) * 1987-02-24 1988-08-26 Fanuc Ltd 数値制御方式
JP2535366B2 (ja) * 1988-01-09 1996-09-18 ファナック株式会社 産業用ロボットの動作能力確認方法と装置
US5103395A (en) * 1988-10-07 1992-04-07 Spako David W System for remote positioning of a radioactive source into a patient including means for protection against improper patient exposure to radiation
JPH02133196U (ja) * 1989-04-11 1990-11-05
DE3922524A1 (de) * 1989-07-08 1991-01-17 Kuka Schweissanlagen & Roboter Verfahren zur regelung der bewegungen einer achse an programmgesteuerten maschinen und regelsystem
JPH0454885A (ja) * 1990-06-19 1992-02-21 Mitsubishi Electric Corp サーボモータ用監視装置
US5626863A (en) * 1992-02-28 1997-05-06 Board Of Regents, The University Of Texas System Photopolymerizable biodegradable hydrogels as tissue contacting materials and controlled-release carriers
JP2812582B2 (ja) * 1991-05-21 1998-10-22 株式会社日立製作所 産業用ロボットの制御装置
JP3011768B2 (ja) * 1992-02-28 2000-02-21 ボード オブ リージェンツ，ザ ユニバーシティ オブ テキサス システム 組織接触材料および制御放出キャリアとしての光重合性生分解性親水ゲル
JPH07136906A (ja) * 1993-11-17 1995-05-30 Brother Ind Ltd 数値制御装置
JP3513936B2 (ja) * 1993-12-22 2004-03-31 松下電工株式会社 光走査型変位測定装置
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
DE102004026185A1 (de) * 2004-05-28 2005-12-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters
JP4490210B2 (ja) * 2004-08-19 2010-06-23 本田技研工業株式会社 運動体の制御システム
DE102007026114A1 (de) * 2007-06-05 2008-12-11 Siemens Ag Positioniervorrichtung und Verfahren zum Positionieren einer Last sowie medizinische Diagnostik- und/oder Therapieanlage
DE102010015407A1 (de) * 2010-04-19 2011-10-20 Kuka Laboratories Gmbh Roboter und Verfahren zum Betreiben eines Roboters
US9050726B2 (en) * 2012-05-16 2015-06-09 Gi 2 Technologies, Llc Activation control device for robotic auxiliary devices
CN104755233B (zh) * 2012-11-09 2017-04-05 Abb技术有限公司 用于控制机器人的方法和机器人驱动单元
KR20210060067A (ko) 2019-11-18 2021-05-26 삼성전자주식회사 전력 관리를 수행하는 전자 장치 및 그 동작 방법
CN112744308B (zh) * 2021-01-18 2022-06-21 北京博清科技有限公司 一种防倾覆爬壁机器人及控制方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5142258A (ja) * 1974-10-09 1976-04-09 Hitachi Ltd
JPS51106028A (ja) * 1975-03-14 1976-09-20 Hitachi Ltd

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1204148A (en) * 1967-11-29 1970-09-03 Tokyu Car Corp An electrical control circuit for an a.c. machine
US3720135A (en) * 1971-02-01 1973-03-13 Kearney & Trecker Corp Feed rate controller
JPS51114785A (en) * 1975-04-01 1976-10-08 Ntn Toyo Bearing Co Ltd Device for removing blank time
US4150326A (en) * 1977-09-19 1979-04-17 Unimation, Inc. Trajectory correlation and error detection method and apparatus
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
US4258425A (en) * 1979-03-08 1981-03-24 A. O. Smith Corporation Self-programmed mechanical working apparatus
JPS6049543B2 (ja) * 1979-10-11 1985-11-02 ファナック株式会社 倣い制御方式
JPS6043266B2 (ja) * 1979-11-12 1985-09-27 ファナック株式会社 電動機駆動制御方式
US4370721A (en) * 1980-09-02 1983-01-25 Cincinnati Milacron Inc. Method for modifying programmed positions by using a programmably controlled surface sensing element
US4356554A (en) * 1980-09-12 1982-10-26 Thermwood Corporation Method and apparatus for compensating for system error in an industrial robot control

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5142258A (ja) * 1974-10-09 1976-04-09 Hitachi Ltd
JPS51106028A (ja) * 1975-03-14 1976-09-20 Hitachi Ltd

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms
US5047700A (en) * 1988-03-23 1991-09-10 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Universal computer control system for motors

Also Published As

Publication number Publication date
DE3151831C2 (ja) 1987-02-05
US4475160A (en) 1984-10-02
GB2092776B (en) 1984-09-05
DE3151831A1 (de) 1982-07-01
GB2092776A (en) 1982-08-18

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