JPS59157715A - Direct teaching method of robot - Google Patents

Direct teaching method of robot

Info

Publication number
JPS59157715A
JPS59157715A JP2930783A JP2930783A JPS59157715A JP S59157715 A JPS59157715 A JP S59157715A JP 2930783 A JP2930783 A JP 2930783A JP 2930783 A JP2930783 A JP 2930783A JP S59157715 A JPS59157715 A JP S59157715A
Authority
JP
Japan
Prior art keywords
teaching
converted
robot
forces
rectangular
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
JP2930783A
Inventor
Shinichi Arai
Michiro Takahashi
Original Assignee
Hitachi 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 Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP2930783A priority Critical patent/JPS59157715A/en
Publication of JPS59157715A publication Critical patent/JPS59157715A/en
Application status is Pending legal-status Critical

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/42Recording 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
    • G05B19/423Teaching 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
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/37Measurements
    • G05B2219/37357Force, pressure, weight or deflection

Abstract

PURPOSE:To improve the precision of final positioning and the teaching efficiency by teaching a robot directly on a basis of the output signal of a force sensor. CONSTITUTION:The operating force of an operator applied to a force sensor 3 is converted to a voltage by strain gauge circuit 7. This voltage is converted to forces in rectangular three axial directions and moments around axes in a hand coordinate system by a force component converting routine 8. A target value of the moving speed of a hand is calculated on a basis of these forces in rectangular three axial directions and moments around axes by a speed calculating routine 9. This target value is converted to coordinate values by a coordinate converting routine 10 and becomes a rotative speed command value of a motor which drives an arm of the robot. This operation is so programmed that it is effective only while a direct teaching switch 11 provided on a teaching box 5 is depressed.
JP2930783A 1983-02-25 1983-02-25 Direct teaching method of robot Pending JPS59157715A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2930783A JPS59157715A (en) 1983-02-25 1983-02-25 Direct teaching method of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2930783A JPS59157715A (en) 1983-02-25 1983-02-25 Direct teaching method of robot

Publications (1)

Publication Number Publication Date
JPS59157715A true JPS59157715A (en) 1984-09-07

Family

ID=12272555

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2930783A Pending JPS59157715A (en) 1983-02-25 1983-02-25 Direct teaching method of robot

Country Status (1)

Country Link
JP (1) JPS59157715A (en)

Cited By (88)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61243514A (en) * 1985-04-22 1986-10-29 Nissan Motor Co Ltd Robot controller
JPS61264408A (en) * 1985-05-20 1986-11-22 Fujitsu Ltd Teaching control system for object moving device
JPS61269712A (en) * 1985-05-24 1986-11-29 Fujitsu Ltd Teaching control method for automatic working device
JPS61273610A (en) * 1985-05-30 1986-12-03 Matsushita Electric Ind Co Ltd Industrial robot
JPS621004A (en) * 1985-05-30 1987-01-07 Matsushita Electric Ind Co Ltd Robot
JPH01234185A (en) * 1988-03-16 1989-09-19 Nitta Ind Corp Teaching method for course of robot using force sensor and its device
JPH0355195A (en) * 1989-07-20 1991-03-08 Mitsubishi Electric Corp Robot control device
US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US5402801A (en) * 1991-06-13 1995-04-04 International Business Machines Corporation System and method for augmentation of surgery
WO2009107358A1 (en) 2008-02-28 2009-09-03 パナソニック株式会社 Control apparatus and control method for a robot arm, robot, control program for a robot arm, and electronic integrated circuit for controlling a robot arm
WO2010069429A1 (en) * 2008-12-17 2010-06-24 Kuka Roboter Gmbh Method and device for inputting commands into a control of a manipulator
WO2010079564A1 (en) 2009-01-09 2010-07-15 パナソニック株式会社 Control apparatuas and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit
WO2010084743A1 (en) 2009-01-22 2010-07-29 パナソニック株式会社 Apparatus and method for controlling robot arm, robot, program for controlling robot arm, and integrated electronic circuit
WO2011021375A1 (en) 2009-08-21 2011-02-24 パナソニック株式会社 Control device and control method for robot arm, assembly robot, control program for robot arm, and integrated electronic circuit for controlling robot arm
US7967868B2 (en) 2007-04-17 2011-06-28 Biomet Manufacturing Corp. Patient-modified implant and associated method
US8070752B2 (en) 2006-02-27 2011-12-06 Biomet Manufacturing Corp. Patient specific alignment guide and inter-operative adjustment
CN102300679A (en) * 2009-09-28 2011-12-28 松下电器产业株式会社 The control device and a control method for a robot arm, a robot, a robot arm and a control program for controlling the robot arm IC
US8092465B2 (en) 2006-06-09 2012-01-10 Biomet Manufacturing Corp. Patient specific knee alignment guide and associated method
WO2012029227A1 (en) 2010-08-31 2012-03-08 パナソニック株式会社 Controller and control method for master-slave robot, master-slave robot, control program, and integrated electronic circuit
US8170641B2 (en) 2009-02-20 2012-05-01 Biomet Manufacturing Corp. Method of imaging an extremity of a patient
US8241293B2 (en) 2006-02-27 2012-08-14 Biomet Manufacturing Corp. Patient specific high tibia osteotomy
US8265949B2 (en) 2007-09-27 2012-09-11 Depuy Products, Inc. Customized patient surgical plan
US8282646B2 (en) 2006-02-27 2012-10-09 Biomet Manufacturing Corp. Patient specific knee alignment guide and associated method
US8298237B2 (en) 2006-06-09 2012-10-30 Biomet Manufacturing Corp. Patient-specific alignment guide for multiple incisions
US8343159B2 (en) 2007-09-30 2013-01-01 Depuy Products, Inc. Orthopaedic bone saw and method of use thereof
US8357111B2 (en) 2007-09-30 2013-01-22 Depuy Products, Inc. Method and system for designing patient-specific orthopaedic surgical instruments
US8377066B2 (en) 2006-02-27 2013-02-19 Biomet Manufacturing Corp. Patient-specific elbow guides and associated methods
US8407067B2 (en) 2007-04-17 2013-03-26 Biomet Manufacturing Corp. Method and apparatus for manufacturing an implant
US8858561B2 (en) 2006-06-09 2014-10-14 Blomet Manufacturing, LLC Patient-specific alignment guide
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US8903530B2 (en) 2011-06-06 2014-12-02 Biomet Manufacturing, Llc Pre-operative planning and manufacturing method for orthopedic procedure
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US9114530B2 (en) 2011-09-06 2015-08-25 Panasonic Intellectual Property Management Co., Ltd. Control device and control method of robot arm, robot, control program, and integrated electronic circuit
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DE102015004426A1 (en) 2014-04-09 2015-10-15 Fanuc Corporation has industrial robot, which cooperates with humans and an imitation function
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US9204977B2 (en) 2012-12-11 2015-12-08 Biomet Manufacturing, Llc Patient-specific acetabular guide for anterior approach
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US9345548B2 (en) 2006-02-27 2016-05-24 Biomet Manufacturing, Llc Patient-specific pre-operative planning
US9351743B2 (en) 2011-10-27 2016-05-31 Biomet Manufacturing, Llc Patient-specific glenoid guides
JP2016103145A (en) * 2014-11-28 2016-06-02 ファナック株式会社 Numerical control machine tool capable of directly manually operating movable part
US9386993B2 (en) 2011-09-29 2016-07-12 Biomet Manufacturing, Llc Patient-specific femoroacetabular impingement instruments and methods
US9393028B2 (en) 2009-08-13 2016-07-19 Biomet Manufacturing, Llc Device for the resection of bones, method for producing such a device, endoprosthesis suited for this purpose and method for producing such an endoprosthesis
DE102008062622B4 (en) * 2008-12-17 2016-08-04 Kuka Roboter Gmbh Method and apparatus for entering commands into a control of a manipulator
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DE102018000467A1 (en) 2017-01-24 2018-07-26 Fanuc Corporation A robot system comprising a force-controlled pusher
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Cited By (148)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61243514A (en) * 1985-04-22 1986-10-29 Nissan Motor Co Ltd Robot controller
JPS61264408A (en) * 1985-05-20 1986-11-22 Fujitsu Ltd Teaching control system for object moving device
JPH0566610B2 (en) * 1985-05-20 1993-09-22 Fujitsu Ltd
JPS61269712A (en) * 1985-05-24 1986-11-29 Fujitsu Ltd Teaching control method for automatic working device
JPS621004A (en) * 1985-05-30 1987-01-07 Matsushita Electric Ind Co Ltd Robot
JPS61273610A (en) * 1985-05-30 1986-12-03 Matsushita Electric Ind Co Ltd Industrial robot
JPH01234185A (en) * 1988-03-16 1989-09-19 Nitta Ind Corp Teaching method for course of robot using force sensor and its device
JPH0355195A (en) * 1989-07-20 1991-03-08 Mitsubishi Electric Corp Robot control device
US5408409A (en) * 1990-05-11 1995-04-18 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US5299288A (en) * 1990-05-11 1994-03-29 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US5402801A (en) * 1991-06-13 1995-04-04 International Business Machines Corporation System and method for augmentation of surgery
US5445166A (en) * 1991-06-13 1995-08-29 International Business Machines Corporation System for advising a surgeon
US5630431A (en) * 1991-06-13 1997-05-20 International Business Machines Corporation System and method for augmentation of surgery
US5695500A (en) * 1991-06-13 1997-12-09 International Business Machines Corporation System for manipulating movement of a surgical instrument with computer controlled brake
US5950629A (en) * 1991-06-13 1999-09-14 International Business Machines Corporation System for assisting a surgeon during surgery
US5976156A (en) * 1991-06-13 1999-11-02 International Business Machines Corporation Stereotaxic apparatus and method for moving an end effector
US6231526B1 (en) 1991-06-13 2001-05-15 International Business Machines Corporation System and method for augmentation of surgery
US6547782B1 (en) 1991-06-13 2003-04-15 International Business Machines, Corp. System and method for augmentation of surgery
US8377066B2 (en) 2006-02-27 2013-02-19 Biomet Manufacturing Corp. Patient-specific elbow guides and associated methods
US9539013B2 (en) 2006-02-27 2017-01-10 Biomet Manufacturing, Llc Patient-specific elbow guides and associated methods
US9662216B2 (en) 2006-02-27 2017-05-30 Biomet Manufacturing, Llc Patient-specific hip joint devices
US9662127B2 (en) 2006-02-27 2017-05-30 Biomet Manufacturing, Llc Patient-specific acetabular guides and associated instruments
US9700329B2 (en) 2006-02-27 2017-07-11 Biomet Manufacturing, Llc Patient-specific orthopedic instruments
US9480580B2 (en) 2006-02-27 2016-11-01 Biomet Manufacturing, Llc Patient-specific acetabular alignment guides
US9345548B2 (en) 2006-02-27 2016-05-24 Biomet Manufacturing, Llc Patient-specific pre-operative planning
US9339278B2 (en) 2006-02-27 2016-05-17 Biomet Manufacturing, Llc Patient-specific acetabular guides and associated instruments
US8070752B2 (en) 2006-02-27 2011-12-06 Biomet Manufacturing Corp. Patient specific alignment guide and inter-operative adjustment
US9289253B2 (en) 2006-02-27 2016-03-22 Biomet Manufacturing, Llc Patient-specific shoulder guide
US9522010B2 (en) 2006-02-27 2016-12-20 Biomet Manufacturing, Llc Patient-specific orthopedic instruments
US9913734B2 (en) 2006-02-27 2018-03-13 Biomet Manufacturing, Llc Patient-specific acetabular alignment guides
US9173661B2 (en) 2006-02-27 2015-11-03 Biomet Manufacturing, Llc Patient specific alignment guide with cutting surface and laser indicator
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US8241293B2 (en) 2006-02-27 2012-08-14 Biomet Manufacturing Corp. Patient specific high tibia osteotomy
US8864769B2 (en) 2006-02-27 2014-10-21 Biomet Manufacturing, Llc Alignment guides with patient-specific anchoring elements
US8282646B2 (en) 2006-02-27 2012-10-09 Biomet Manufacturing Corp. Patient specific knee alignment guide and associated method
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US9066727B2 (en) 2010-03-04 2015-06-30 Materialise Nv Patient-specific computed tomography guides
US9089967B2 (en) 2010-08-31 2015-07-28 Panasonic Intellectual Property Management Co., Ltd. Control apparatus and method for master-slave robot, master-slave robot, control program, and integrated electronic circuit
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