JPS59206708A - ロボットとポジショナの連動制御方法 - Google Patents
ロボットとポジショナの連動制御方法Info
- Publication number
- JPS59206708A JPS59206708A JP8328483A JP8328483A JPS59206708A JP S59206708 A JPS59206708 A JP S59206708A JP 8328483 A JP8328483 A JP 8328483A JP 8328483 A JP8328483 A JP 8328483A JP S59206708 A JPS59206708 A JP S59206708A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- point
- rotation
- rotary table
- vector
- 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
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 14
- 239000013598 vector Substances 0.000 claims abstract description 90
- 238000000034 method Methods 0.000 claims description 52
- 238000005259 measurement Methods 0.000 claims description 39
- 238000003860 storage Methods 0.000 abstract description 17
- 238000003466 welding Methods 0.000 description 59
- 238000004364 calculation method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000036544 posture Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 2
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 description 1
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 description 1
- YTAHJIFKAKIKAV-XNMGPUDCSA-N [(1R)-3-morpholin-4-yl-1-phenylpropyl] N-[(3S)-2-oxo-5-phenyl-1,3-dihydro-1,4-benzodiazepin-3-yl]carbamate Chemical compound O=C1[C@H](N=C(C2=C(N1)C=CC=C2)C1=CC=CC=C1)NC(O[C@H](CCN1CCOCC1)C1=CC=CC=C1)=O YTAHJIFKAKIKAV-XNMGPUDCSA-N 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8328483A JPS59206708A (ja) | 1983-05-11 | 1983-05-11 | ロボットとポジショナの連動制御方法 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8328483A JPS59206708A (ja) | 1983-05-11 | 1983-05-11 | ロボットとポジショナの連動制御方法 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59206708A true JPS59206708A (ja) | 1984-11-22 |
| JPH0410567B2 JPH0410567B2 (enrdf_load_stackoverflow) | 1992-02-25 |
Family
ID=13798072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8328483A Granted JPS59206708A (ja) | 1983-05-11 | 1983-05-11 | ロボットとポジショナの連動制御方法 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59206708A (enrdf_load_stackoverflow) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000094370A (ja) * | 1998-09-18 | 2000-04-04 | Denso Corp | ロボットの作業表面の傾き測定方法およびその測定装置 |
| JP2019076990A (ja) * | 2017-10-24 | 2019-05-23 | ファナック株式会社 | ワーク移動装置及びロボットを協調して動作させるように制御する制御装置及び制御方法 |
-
1983
- 1983-05-11 JP JP8328483A patent/JPS59206708A/ja active Granted
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000094370A (ja) * | 1998-09-18 | 2000-04-04 | Denso Corp | ロボットの作業表面の傾き測定方法およびその測定装置 |
| JP2019076990A (ja) * | 2017-10-24 | 2019-05-23 | ファナック株式会社 | ワーク移動装置及びロボットを協調して動作させるように制御する制御装置及び制御方法 |
| US10723023B2 (en) | 2017-10-24 | 2020-07-28 | Fanuc Corporation | Control device and control method for controlling workpiece moving device and robot to operate in cooperation with each other |
| DE102018125720B4 (de) * | 2017-10-24 | 2020-09-24 | Fanuc Corporation | Steuervorrichtung und Steuerverfahren zur Vornahme einer derartigen Steuerung, dass eine Werkstückbewegungsvorrichtung und ein Roboter zusammenwirkend betrieben werden |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0410567B2 (enrdf_load_stackoverflow) | 1992-02-25 |
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