JPS6223322B2 - - Google Patents

Info

Publication number
JPS6223322B2
JPS6223322B2 JP55182458A JP18245880A JPS6223322B2 JP S6223322 B2 JPS6223322 B2 JP S6223322B2 JP 55182458 A JP55182458 A JP 55182458A JP 18245880 A JP18245880 A JP 18245880A JP S6223322 B2 JPS6223322 B2 JP S6223322B2
Authority
JP
Japan
Prior art keywords
arm
trajectory
tip
bang
point
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
JP55182458A
Other languages
English (en)
Japanese (ja)
Other versions
JPS57120112A (en
Inventor
Fumio Tabata
Kazuo Asakawa
Hitoshi Komorya
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.)
Fujitsu Ltd
Original Assignee
Fujitsu 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 Fujitsu Ltd filed Critical Fujitsu Ltd
Priority to JP55182458A priority Critical patent/JPS57120112A/ja
Priority to US06/333,056 priority patent/US4488242A/en
Priority to DE8181306046T priority patent/DE3176095D1/de
Priority to EP81306046A priority patent/EP0055915B1/en
Publication of JPS57120112A publication Critical patent/JPS57120112A/ja
Publication of JPS6223322B2 publication Critical patent/JPS6223322B2/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
    • G05B19/19—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 programme 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
    • G05B19/39—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 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 a combination of the means covered by at least two of the preceding groups G05B19/21, G05B19/27 and G05B19/33
    • 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
    • G05B2219/45187—Printer

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)
JP55182458A 1980-12-22 1980-12-22 Locus control method of arm Granted JPS57120112A (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP55182458A JPS57120112A (en) 1980-12-22 1980-12-22 Locus control method of arm
US06/333,056 US4488242A (en) 1980-12-22 1981-12-21 Robot arm control method using open loop control in combination with closed loop control
DE8181306046T DE3176095D1 (en) 1980-12-22 1981-12-22 Arm locus control method and apparatus
EP81306046A EP0055915B1 (en) 1980-12-22 1981-12-22 Arm locus control method and apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP55182458A JPS57120112A (en) 1980-12-22 1980-12-22 Locus control method of arm

Publications (2)

Publication Number Publication Date
JPS57120112A JPS57120112A (en) 1982-07-27
JPS6223322B2 true JPS6223322B2 (en, 2012) 1987-05-22

Family

ID=16118615

Family Applications (1)

Application Number Title Priority Date Filing Date
JP55182458A Granted JPS57120112A (en) 1980-12-22 1980-12-22 Locus control method of arm

Country Status (4)

Country Link
US (1) US4488242A (en, 2012)
EP (1) EP0055915B1 (en, 2012)
JP (1) JPS57120112A (en, 2012)
DE (1) DE3176095D1 (en, 2012)

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JPS6052279A (ja) * 1983-09-01 1985-03-25 株式会社東芝 多関節ロボット装置
JPS6055414A (ja) * 1983-09-05 1985-03-30 Mitsubishi Electric Corp 加工装置
JPH0785203B2 (ja) * 1983-09-30 1995-09-13 新明和工業株式会社 多関節ロボットの制御のための座標変換方法，演算方法，座標変換装置および演算装置
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US4725965A (en) * 1986-07-23 1988-02-16 American Telephone And Telegraph Company Method for calibrating a SCARA robot
JP2716062B2 (ja) * 1986-09-30 1998-02-18 富士電機株式会社 運動部材の原点復帰方式
US5023808A (en) * 1987-04-06 1991-06-11 California Institute Of Technology Dual-arm manipulators with adaptive control
US4833383A (en) * 1987-08-13 1989-05-23 Iowa State University Research Foundation, Inc. Means and method of camera space manipulation
US4864205A (en) * 1987-10-09 1989-09-05 Hewlett-Packard Company Method for coordinated control of motion devices
US4808063A (en) * 1987-11-03 1989-02-28 Westinghouse Electric Corp. Robot system employing force/position control
US4986724A (en) * 1987-11-10 1991-01-22 Cincinnati Milacron Inc. System for compensated motion of coupled robot axes
US4826391A (en) * 1988-02-23 1989-05-02 The University Of British Columbia Manipulator arm position sensing
JPH01252389A (ja) * 1988-03-31 1989-10-09 Agency Of Ind Science & Technol マニピュレータ及びその制御方法
US4891767A (en) * 1988-06-02 1990-01-02 Combustion Engineering, Inc. Machine vision system for position sensing
JPH02198783A (ja) * 1989-01-23 1990-08-07 Fanuc Ltd 産業用ロボットの位置決め補正方式
JP2651251B2 (ja) * 1989-10-20 1997-09-10 株式会社日立製作所 スカラ型ロボットの機構誤差補正方法
JP2874238B2 (ja) * 1990-01-23 1999-03-24 株式会社安川電機 多関節形ロボットの制御方法
JP3200059B2 (ja) * 1990-03-30 2001-08-20 株式会社東芝 ロボットの制御装置
FR2671305B1 (fr) * 1991-01-09 1995-04-07 Commissariat Energie Atomique Procede de pilotage d'un bras de robot en definissant des trajets de substitution.
JPH04359302A (ja) * 1991-06-05 1992-12-11 Hitachi Ltd ロボットの制御方法
US5202821A (en) * 1991-06-28 1993-04-13 Maxtor Corporation Sampled-data control system exhibiting reduced phase loss
US5532926A (en) * 1991-06-28 1996-07-02 Maxtor Corporation Control system filter having both early-off hold and multi-interval sampling functions
US5443354A (en) * 1992-07-20 1995-08-22 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Hazardous materials emergency response mobile robot
US5300869A (en) * 1992-07-30 1994-04-05 Iowa State University Research Foundation, Inc. Nonholonomic camera space manipulation
CA2081519C (en) * 1992-10-27 2000-09-05 The University Of Toronto Parametric control device
US5426722A (en) * 1993-09-09 1995-06-20 Stratasys, Inc. Method for optimizing the motion of a multi-axis robot
JP2599571B2 (ja) * 1994-05-11 1997-04-09 ダイトロンテクノロジー株式会社 基板搬送ロボット
US6121743A (en) * 1996-03-22 2000-09-19 Genmark Automation, Inc. Dual robotic arm end effectors having independent yaw motion
US5789890A (en) * 1996-03-22 1998-08-04 Genmark Automation Robot having multiple degrees of freedom
US5878151A (en) * 1996-10-31 1999-03-02 Combustion Engineering, Inc. Moving object tracking
US6064168A (en) * 1998-03-13 2000-05-16 Fanuc Robotics North America, Inc. Method of controlling robot movement
US6489741B1 (en) 1998-08-25 2002-12-03 Genmark Automation, Inc. Robot motion compensation system
US6028410A (en) * 1999-01-11 2000-02-22 Stratasys, Inc. Resonance detection and resolution
US6850806B2 (en) * 1999-04-16 2005-02-01 Siemens Energy & Automation, Inc. Method and apparatus for determining calibration options in a motion control system
US6304050B1 (en) * 1999-07-19 2001-10-16 Steven B. Skaar Means and method of robot control relative to an arbitrary surface using camera-space manipulation
US6297611B1 (en) * 2000-07-06 2001-10-02 Genmark Automation Robot having independent end effector linkage motion
US6859747B2 (en) * 2001-04-26 2005-02-22 Siemens Energy & Automation, Inc. Method and apparatus for self-calibrating a motion control system
US6865499B2 (en) * 2001-04-26 2005-03-08 Siemens Energy & Automation, Inc. Method and apparatus for tuning compensation parameters in a motion control system associated with a mechanical member
EP1932629B1 (en) * 2006-12-11 2019-04-24 ABB Research Ltd. A method and a control system for monitoring the condition of an industrial robot
US9731418B2 (en) 2008-01-25 2017-08-15 Systems Machine Automation Components Corporation Methods and apparatus for closed loop force control in a linear actuator
US9381649B2 (en) 2012-06-25 2016-07-05 Systems Machine Automation Components Corporation Robotic finger
US7784568B2 (en) * 2008-09-18 2010-08-31 Freeport-Mcmoran Copper & Gold Inc. Method and apparatus for controlling tracked vehicles
JP5963755B2 (ja) 2010-09-23 2016-08-03 システムズ マシーンズ オートメーション コンポーネンツ コーポレイション 低コストのマルチコイルリニアアクチュエータ
JP5834628B2 (ja) * 2011-08-29 2015-12-24 いすゞ自動車株式会社 アクチュエータの制御方法及びアクチュエータの制御装置
WO2013033289A1 (en) * 2011-09-02 2013-03-07 Brooks Automation, Inc. Time-optimal trajectories for robotic transfer devices
JP5838681B2 (ja) * 2011-09-16 2016-01-06 いすゞ自動車株式会社 アクチュエータの制御方法及びアクチュエータの制御装置
JP2015521840A (ja) 2012-06-25 2015-07-30 システムズ， マシーンズ， オートメイション コンポーネンツ コーポレイション 低コスト、薄型化を実現したリニアアクチュエータ
CN103231379A (zh) * 2013-03-22 2013-08-07 天津理工大学 一种2r欠驱动平面柔性机械臂的位置控制方法
CN103323163B (zh) * 2013-06-14 2015-11-04 中国科学院自动化研究所 一种基于力反馈的主动补偿抑振系统
US9871435B2 (en) 2014-01-31 2018-01-16 Systems, Machines, Automation Components Corporation Direct drive motor for robotic finger
US10807248B2 (en) 2014-01-31 2020-10-20 Systems, Machines, Automation Components Corporation Direct drive brushless motor for robotic finger
WO2016057570A1 (en) * 2014-10-06 2016-04-14 Systems, Machines, Automation Components Corporation Methods and apparatus for closed loop force control in a linear actuator
US10429211B2 (en) 2015-07-10 2019-10-01 Systems, Machines, Automation Components Corporation Apparatus and methods for linear actuator with piston assembly having an integrated controller and encoder
EP3353558A1 (en) 2015-09-24 2018-08-01 Systems, Machines, Automation Components Corporation Magnetically-latched actuator
US10865085B1 (en) 2016-04-08 2020-12-15 Systems, Machines, Automation Components Corporation Methods and apparatus for applying a threaded cap using a linear rotary actuator
US10675723B1 (en) 2016-04-08 2020-06-09 Systems, Machines, Automation Components Corporation Methods and apparatus for inserting a threaded fastener using a linear rotary actuator
US10205355B2 (en) 2017-01-03 2019-02-12 Systems, Machines, Automation Components Corporation High-torque, low-current brushless motor
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

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US3412300A (en) * 1965-06-01 1968-11-19 Ibm Optimum switching of a bangbang servo
US3727119A (en) * 1971-02-01 1973-04-10 Information Dev Corp Servo controlled automatic inspection apparatus
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US4017721A (en) * 1974-05-16 1977-04-12 The Bendix Corporation Method and apparatus for determining the position of a body
US4200827A (en) * 1977-06-29 1980-04-29 International Business Machines Corporation Positioning system employing feedforward and feedback control
US4250438A (en) * 1978-03-07 1981-02-10 Oki Electric Industry Co., Ltd. Digitally controlled acceleration and deceleration system
GB2029603B (en) * 1978-07-03 1982-09-02 Conti Form Machine Tools Ltd Automatic tool-moving machine
US4221997A (en) * 1978-12-18 1980-09-09 Western Electric Company, Incorporated Articulated robot arm and method of moving same
US4243923A (en) * 1979-01-22 1981-01-06 Massachusetts Institute Of Technology Servo-controlled mobility device
US4328450A (en) * 1980-07-22 1982-05-04 Xerox Corporation Closed loop velocity control system for a movable element

Also Published As

Publication number Publication date
EP0055915A3 (en) 1984-04-04
EP0055915A2 (en) 1982-07-14
EP0055915B1 (en) 1987-04-08
JPS57120112A (en) 1982-07-27
US4488242A (en) 1984-12-11
DE3176095D1 (en) 1987-05-14

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