JPS603010A - ロボットの制御方法及びそのロボット - Google Patents

ロボットの制御方法及びそのロボット

Info

Publication number
JPS603010A
JPS603010A JP10917183A JP10917183A JPS603010A JP S603010 A JPS603010 A JP S603010A JP 10917183 A JP10917183 A JP 10917183A JP 10917183 A JP10917183 A JP 10917183A JP S603010 A JPS603010 A JP S603010A
Authority
JP
Japan
Prior art keywords
robot
force
signal
calculation means
tool
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
JP10917183A
Other languages
English (en)
Japanese (ja)
Other versions
JPH0443744B2 (enrdf_load_stackoverflow
Inventor
Koichi Sugimoto
浩一 杉本
Hisaaki Hirabayashi
平林　久明
Shinichi Arai
荒井　信一
Muneyuki Sakagami
坂上　志之
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.)
Hitachi Ltd
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 JP10917183A priority Critical patent/JPS603010A/ja
Priority to US06/621,717 priority patent/US4621332A/en
Priority to DE8484107013T priority patent/DE3476172D1/de
Priority to EP84107013A priority patent/EP0129245B1/en
Publication of JPS603010A publication Critical patent/JPS603010A/ja
Publication of JPH0443744B2 publication Critical patent/JPH0443744B2/ja
Granted legal-status Critical Current

Links

Classifications

    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position Or Direction (AREA)
  • Manipulator (AREA)
JP10917183A 1983-06-20 1983-06-20 ロボットの制御方法及びそのロボット Granted JPS603010A (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP10917183A JPS603010A (ja) 1983-06-20 1983-06-20 ロボットの制御方法及びそのロボット
US06/621,717 US4621332A (en) 1983-06-20 1984-06-18 Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient
DE8484107013T DE3476172D1 (en) 1983-06-20 1984-06-19 Method and apparatus for controlling a robot
EP84107013A EP0129245B1 (en) 1983-06-20 1984-06-19 Method and apparatus for controlling a robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP10917183A JPS603010A (ja) 1983-06-20 1983-06-20 ロボットの制御方法及びそのロボット

Publications (2)

Publication Number Publication Date
JPS603010A true JPS603010A (ja) 1985-01-09
JPH0443744B2 JPH0443744B2 (enrdf_load_stackoverflow) 1992-07-17

Family

ID=14503454

Family Applications (1)

Application Number Title Priority Date Filing Date
JP10917183A Granted JPS603010A (ja) 1983-06-20 1983-06-20 ロボットの制御方法及びそのロボット

Country Status (1)

Country Link
JP (1) JPS603010A (enrdf_load_stackoverflow)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61262816A (ja) * 1985-05-16 1986-11-20 Fujitsu Ltd 移動体制御装置
JPS61262817A (ja) * 1985-05-16 1986-11-20 Fujitsu Ltd 物体移動装置の制御方式
JPS61265289A (ja) * 1985-05-20 1986-11-25 富士通株式会社 移動体制御装置
JPS61265287A (ja) * 1985-05-20 1986-11-25 富士通株式会社 移動体制御装置
JPS61265288A (ja) * 1985-05-20 1986-11-25 富士通株式会社 移動体制御装置
JPS62228387A (ja) * 1986-03-31 1987-10-07 工業技術院長 マニピュレータの可変コンプライアンス制御方法
JPS62255094A (ja) * 1986-04-28 1987-11-06 株式会社山武 マスタスレ−ブマニピユレ−タ
JPS62297080A (ja) * 1986-06-13 1987-12-24 古田　勝久 マスタスレ−ブマニピユレ−タ
JPS63106805A (ja) * 1986-10-24 1988-05-11 Hitachi Ltd 直動形多自由度ロボツトの位置と力のハイブリツド制御装置
JPH0366582A (ja) * 1989-08-01 1991-03-22 Nec Corp コンプライアンス継ぎ手
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
US7949431B2 (en) 2008-09-03 2011-05-24 Fanuc Ltd Fitting device for adjusting state of clogging caused in fit

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008290228A (ja) 2007-04-24 2008-12-04 Fanuc Ltd 嵌合装置
JP6046218B1 (ja) 2015-07-09 2016-12-14 ファナック株式会社 物体と物体とを合わせ状態にするロボットのロボット制御装置
JP6208724B2 (ja) 2015-09-09 2017-10-04 ファナック株式会社 物体の姿勢算出システム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5165478A (enrdf_load_stackoverflow) * 1974-12-04 1976-06-07 Hitachi Ltd
JPS5689493A (en) * 1979-12-21 1981-07-20 Fujitsu Ltd Controlling system for locus of robot
JPS5810484A (ja) * 1981-07-10 1983-01-21 元田電子工業株式会社 軌道制御方式
JPS59705A (ja) * 1982-06-25 1984-01-05 Kobe Steel Ltd ロボツトの動特性を考慮した高精度位置制御法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5165478A (enrdf_load_stackoverflow) * 1974-12-04 1976-06-07 Hitachi Ltd
JPS5689493A (en) * 1979-12-21 1981-07-20 Fujitsu Ltd Controlling system for locus of robot
JPS5810484A (ja) * 1981-07-10 1983-01-21 元田電子工業株式会社 軌道制御方式
JPS59705A (ja) * 1982-06-25 1984-01-05 Kobe Steel Ltd ロボツトの動特性を考慮した高精度位置制御法

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61262816A (ja) * 1985-05-16 1986-11-20 Fujitsu Ltd 移動体制御装置
JPS61262817A (ja) * 1985-05-16 1986-11-20 Fujitsu Ltd 物体移動装置の制御方式
JPS61265289A (ja) * 1985-05-20 1986-11-25 富士通株式会社 移動体制御装置
JPS61265287A (ja) * 1985-05-20 1986-11-25 富士通株式会社 移動体制御装置
JPS61265288A (ja) * 1985-05-20 1986-11-25 富士通株式会社 移動体制御装置
JPS62228387A (ja) * 1986-03-31 1987-10-07 工業技術院長 マニピュレータの可変コンプライアンス制御方法
JPS62255094A (ja) * 1986-04-28 1987-11-06 株式会社山武 マスタスレ−ブマニピユレ−タ
JPS62297080A (ja) * 1986-06-13 1987-12-24 古田　勝久 マスタスレ−ブマニピユレ−タ
JPS63106805A (ja) * 1986-10-24 1988-05-11 Hitachi Ltd 直動形多自由度ロボツトの位置と力のハイブリツド制御装置
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
JPH0366582A (ja) * 1989-08-01 1991-03-22 Nec Corp コンプライアンス継ぎ手
US7949431B2 (en) 2008-09-03 2011-05-24 Fanuc Ltd Fitting device for adjusting state of clogging caused in fit

Also Published As

Publication number Publication date
JPH0443744B2 (enrdf_load_stackoverflow) 1992-07-17

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