JPS6160447B2 - - Google Patents

Info

Publication number
JPS6160447B2
JPS6160447B2 JP7911480A JP7911480A JPS6160447B2 JP S6160447 B2 JPS6160447 B2 JP S6160447B2 JP 7911480 A JP7911480 A JP 7911480A JP 7911480 A JP7911480 A JP 7911480A JP S6160447 B2 JPS6160447 B2 JP S6160447B2
Authority
JP
Japan
Prior art keywords
interpolation
drive
trajectory
drive shaft
deviation amount
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.)
Expired
Application number
JP7911480A
Other languages
English (en)
Japanese (ja)
Other versions
JPS575110A (en
Inventor
Mikio Ide
Tadakyo Morimoto
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.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries 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 Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Priority to JP7911480A priority Critical patent/JPS575110A/ja
Publication of JPS575110A publication Critical patent/JPS575110A/ja
Publication of JPS6160447B2 publication Critical patent/JPS6160447B2/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—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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34101—Data compression, look ahead segment calculation, max segment lenght
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39002—Move tip of arm on straight line

Landscapes

  • Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
JP7911480A 1980-06-13 1980-06-13 Control system for track of industrial robot or the like Granted JPS575110A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP7911480A JPS575110A (en) 1980-06-13 1980-06-13 Control system for track of industrial robot or the like

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP7911480A JPS575110A (en) 1980-06-13 1980-06-13 Control system for track of industrial robot or the like

Publications (2)

Publication Number Publication Date
JPS575110A JPS575110A (en) 1982-01-11
JPS6160447B2 true JPS6160447B2 (enrdf_load_stackoverflow) 1986-12-20

Family

ID=13680878

Family Applications (1)

Application Number Title Priority Date Filing Date
JP7911480A Granted JPS575110A (en) 1980-06-13 1980-06-13 Control system for track of industrial robot or the like

Country Status (1)

Country Link
JP (1) JPS575110A (enrdf_load_stackoverflow)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03106650U (enrdf_load_stackoverflow) * 1990-02-17 1991-11-05

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19509734A1 (de) * 1995-03-13 1996-09-19 Mannesmann Ag Verfahren zur Auslegerführung eines Kranes mit Wippausleger
CN113093716B (zh) * 2019-12-19 2024-04-30 广州极飞科技股份有限公司 一种运动轨迹规划方法、装置、设备及存储介质
CN117549316B (zh) * 2024-01-12 2024-03-12 唐山先河智能机器有限公司 多轴机械臂控制方法及主从控制系统

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03106650U (enrdf_load_stackoverflow) * 1990-02-17 1991-11-05

Also Published As

Publication number Publication date
JPS575110A (en) 1982-01-11

Similar Documents

Publication Publication Date Title
US6845295B2 (en) Method of controlling a robot through a singularity
EP0130570B1 (en) Method and apparatus for controlling a robot hand along a predetermined path
JP3207728B2 (ja) 冗長マニピュレータの制御方法
EP0055915B1 (en) Arm locus control method and apparatus
EP0086950A1 (en) Method of controlling an industrial robot
US4287459A (en) Method for generating a pattern by means of an industrial robot and industrial robot for carrying out the method
EP0232424B1 (en) Industrial robot
JP5380672B2 (ja) モーションプランナ、制御システム、および多軸サーボシステム
JPS59708A (ja) 適合速度制御を行なう経路運動マニピユレ−タ
EP0260326A1 (en) Robot controller
EP0062075B1 (en) Numerical control system
EP0464649B1 (en) Control device for robot in inertial coordinate system
US4629955A (en) Method and apparatus for machine control
JPH0413108B2 (enrdf_load_stackoverflow)
JPS6160447B2 (enrdf_load_stackoverflow)
Ozaki et al. Planning of collision-free movements of a manipulator with dynamic constraints
JPS6186194A (ja) ロボツトの衝突回避制御方法
JP3175623B2 (ja) ロボットの制御装置
JPS6111815A (ja) ロボツトの位置ズレ補正システム
JPH0623928B2 (ja) ロボツトハンドの軌道修正方法
JPS6010309A (ja) ロボツトハンドの経路補間方法
JPS63150183A (ja) ロボツトの運動制御方法
JPH0625928B2 (ja) ロボツトの円弧軌道制御装置
JPS6246003B2 (enrdf_load_stackoverflow)
KR0155281B1 (ko) 다관절 로보트의 직선보간방법