JPS5988279A - 多関節ロボットの座標変換方法およびそのための装置 - Google Patents

多関節ロボットの座標変換方法およびそのための装置

Info

Publication number
JPS5988279A
JPS5988279A JP57182002A JP18200282A JPS5988279A JP S5988279 A JPS5988279 A JP S5988279A JP 57182002 A JP57182002 A JP 57182002A JP 18200282 A JP18200282 A JP 18200282A JP S5988279 A JPS5988279 A JP S5988279A
Authority
JP
Japan
Prior art keywords
register
output
shift
circuit
data
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
JP57182002A
Other languages
English (en)
Japanese (ja)
Other versions
JPH0424196B2 (enExample
Inventor
英夫 小山
野口　文雄
藤長　茂樹
裕敏 山本
近藤　隆彦
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.)
Shinmaywa Industries Ltd
Original Assignee
Shin Meiva Industry 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 Shin Meiva Industry Ltd filed Critical Shin Meiva Industry Ltd
Priority to JP57182002A priority Critical patent/JPS5988279A/ja
Priority to US06/540,177 priority patent/US4580229A/en
Publication of JPS5988279A publication Critical patent/JPS5988279A/ja
Publication of JPH0424196B2 publication Critical patent/JPH0424196B2/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—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/408—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 program data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4086—Coordinate conversions; Other special calculations
    • 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—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/19—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 program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—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 program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/25—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 program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control
    • G05B19/251—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 program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/258—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 program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude with a combination of feedback covered by G05B19/253 - G05B19/256
    • 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
    • G05B2219/33—Director till display
    • G05B2219/33263—Conversion, transformation of coordinates, cartesian or polar
    • 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
    • G05B2219/37357—Force, pressure, weight or deflection
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41434—Feedforward FFW
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
JP57182002A 1982-10-15 1982-10-15 多関節ロボットの座標変換方法およびそのための装置 Granted JPS5988279A (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP57182002A JPS5988279A (ja) 1982-10-15 1982-10-15 多関節ロボットの座標変換方法およびそのための装置
US06/540,177 US4580229A (en) 1982-10-15 1983-10-07 Method and apparatus for control of an articulated robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP57182002A JPS5988279A (ja) 1982-10-15 1982-10-15 多関節ロボットの座標変換方法およびそのための装置

Publications (2)

Publication Number Publication Date
JPS5988279A true JPS5988279A (ja) 1984-05-22
JPH0424196B2 JPH0424196B2 (enExample) 1992-04-24

Family

ID=16110599

Family Applications (1)

Application Number Title Priority Date Filing Date
JP57182002A Granted JPS5988279A (ja) 1982-10-15 1982-10-15 多関節ロボットの座標変換方法およびそのための装置

Country Status (2)

Country Link
US (1) US4580229A (enExample)
JP (1) JPS5988279A (enExample)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6125207A (ja) * 1984-07-12 1986-02-04 Fanuc Ltd ツ−ル座標系の設定方式
JPS61110204A (ja) * 1984-11-02 1986-05-28 Hitachi Ltd 自動化装置の制御方法
US4823279A (en) * 1986-02-27 1989-04-18 Unimation, Inc. Coordinate conversion system and method for controlling an industrial robot
US4763276A (en) * 1986-03-21 1988-08-09 Actel Partnership Methods for refining original robot command signals
US5117348A (en) * 1986-03-28 1992-05-26 The Ingersoll Milling Machine Company Method for alignment of a representative surface to an actual surface for a tape laying machine
US4714400A (en) * 1986-04-14 1987-12-22 Ibm Corporation Plural robotic drive
US4857816A (en) * 1987-02-05 1989-08-15 Joseph Rogozinski Precise positioning apparatus
JPS63223869A (ja) * 1987-03-13 1988-09-19 Hitachi Ltd プログラム生成方法
US5023808A (en) * 1987-04-06 1991-06-11 California Institute Of Technology Dual-arm manipulators with adaptive control
US4860215A (en) * 1987-04-06 1989-08-22 California Institute Of Technology Method and apparatus for adaptive force and position control of manipulators
DE3866006D1 (de) * 1987-05-04 1991-12-12 Siemens Ag Verfahren zur positionierung eines werkzeugs eines mehrgelenkigen roboters.
US5129044A (en) * 1988-03-01 1992-07-07 Hitachi Construction Machinery Co., Ltd. Position/force controlling apparatus for working machine with multiple of degrees of freedom
DE69028041T2 (de) * 1989-05-17 1997-01-09 Fujitsu Ltd Profilsteuerungssystem für Roboter
US5053976A (en) * 1989-05-22 1991-10-01 Honda Giken Kogyo Kabushiki Kaisha Method of teaching a robot
JP2566665B2 (ja) * 1990-06-27 1996-12-25 川崎重工業株式会社 慣性系におけるロボットの制御装置
DE69207627T2 (de) * 1991-04-09 1996-05-30 Hewlett Packard Co Hybrides Lage- und Kraftregelsystem
DE69223854T2 (de) * 1991-06-14 1998-05-20 Honeywell Inc Proportionalmodus - Handsteuerung mit Kraftrückkopplung
US5276390A (en) * 1991-10-04 1994-01-04 Hewlett-Packard Company System for hybrid position and force control
SE9400579L (sv) * 1994-02-21 1995-08-22 Asea Brown Boveri Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter
DE19636102A1 (de) * 1996-09-05 1998-03-12 Fraunhofer Ges Forschung Verfahren und Vorrichtung zur Steuerung der Bewegung eines Trägers
US5886494A (en) * 1997-02-06 1999-03-23 Camelot Systems, Inc. Positioning system
JP3519253B2 (ja) * 1997-10-28 2004-04-12 株式会社ソニー・コンピュータエンタテインメント 情報処理装置、および情報処理方法
DE10016317A1 (de) * 2000-03-31 2001-10-04 Emco Maier Gmbh Verfahren zum Regeln der Bahnbewegung eines angetriebenen Organs
FR2919382B1 (fr) * 2007-07-24 2012-10-12 Profile Controles Ind Dispositif de mesure et de cartographie a ultrasons
US8417755B1 (en) 2008-05-28 2013-04-09 Michael F. Zimmer Systems and methods for reducing memory traffic and power consumption in a processing environment by solving a system of linear equations
WO2013099031A1 (ja) * 2011-12-28 2013-07-04 株式会社安川電機 エンジニアリングツール
MX386786B (es) 2018-04-30 2025-03-19 Path Robotics Inc Escaner láser que rechaza la reflexión.
CN111002306B (zh) * 2019-11-15 2021-04-09 杭州项淮机械科技有限公司 一种基于电子凸轮的机器人运动控制方法及控制系统
WO2022016152A1 (en) 2020-07-17 2022-01-20 Path Robotics, Inc. Real time feedback and dynamic adjustment for welding robots
US11648683B2 (en) 2021-02-24 2023-05-16 Path Robotics, Inc. Autonomous welding robots
US12277369B2 (en) 2021-10-18 2025-04-15 Path Robotics, Inc. Generating simulated weld paths for a welding robot
KR20240116919A (ko) 2021-11-19 2024-07-30 패스 로보틱스, 인코포레이티드 로봇을 위한 머신 러닝 로직 기반 조정 기술
US12508665B2 (en) 2022-04-19 2025-12-30 Path Robotics, Inc. Autonomous assembly robots
US12521884B2 (en) 2022-07-26 2026-01-13 Path Robotics, Inc. Techniques for multipass welding

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS53121362A (en) * 1977-03-30 1978-10-23 Hitachi Ltd Method of controlling each articulation angle of articulated robot

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3763358A (en) * 1971-10-21 1973-10-02 D Cargille Interweaved matrix updating coordinate converter
US4156835A (en) * 1974-05-29 1979-05-29 Massachusetts Institute Of Technology Servo-controlled mobility device
US4380696A (en) * 1980-11-12 1983-04-19 Unimation, Inc. Method and apparatus for manipulator welding apparatus with vision correction for workpiece sensing

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS53121362A (en) * 1977-03-30 1978-10-23 Hitachi Ltd Method of controlling each articulation angle of articulated robot

Also Published As

Publication number Publication date
US4580229A (en) 1986-04-01
JPH0424196B2 (enExample) 1992-04-24

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