JPS6315604B2 - - Google Patents

Info

Publication number
JPS6315604B2
JPS6315604B2 JP55142605A JP14260580A JPS6315604B2 JP S6315604 B2 JPS6315604 B2 JP S6315604B2 JP 55142605 A JP55142605 A JP 55142605A JP 14260580 A JP14260580 A JP 14260580A JP S6315604 B2 JPS6315604 B2 JP S6315604B2
Authority
JP
Japan
Prior art keywords
point
robot
axis
position data
interpolation
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
JP55142605A
Other languages
English (en)
Japanese (ja)
Other versions
JPS5769314A (en
Inventor
Hajime Inaba
Shinsuke Sakakibara
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Priority to JP55142605A priority Critical patent/JPS5769314A/ja
Priority to PCT/JP1981/000273 priority patent/WO1982001426A1/ja
Priority to US06/755,548 priority patent/US4626756A/en
Priority to DE8181902762T priority patent/DE3177094D1/de
Priority to EP81902762A priority patent/EP0062075B1/en
Priority to KR1019810003862A priority patent/KR880001647B1/ko
Publication of JPS5769314A publication Critical patent/JPS5769314A/ja
Publication of JPS6315604B2 publication Critical patent/JPS6315604B2/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
    • 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
    • G05B19/4103—Digital interpolation
    • 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
    • G05B15/00—Systems controlled by a computer
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36045—Skip of program blocks, jump over certain blocks
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36512—Select by a selector, dip switch
    • 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
    • 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)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
JP55142605A 1980-10-13 1980-10-13 Numerical control system Granted JPS5769314A (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP55142605A JPS5769314A (en) 1980-10-13 1980-10-13 Numerical control system
PCT/JP1981/000273 WO1982001426A1 (en) 1980-10-13 1981-10-08 Numerical control system
US06/755,548 US4626756A (en) 1980-10-13 1981-10-08 Numerical control system
DE8181902762T DE3177094D1 (en) 1980-10-13 1981-10-08 Numerical control system
EP81902762A EP0062075B1 (en) 1980-10-13 1981-10-08 Numerical control system
KR1019810003862A KR880001647B1 (ko) 1980-10-13 1981-10-13 로보트 제어장치

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP55142605A JPS5769314A (en) 1980-10-13 1980-10-13 Numerical control system

Publications (2)

Publication Number Publication Date
JPS5769314A JPS5769314A (en) 1982-04-28
JPS6315604B2 true JPS6315604B2 (en, 2012) 1988-04-05

Family

ID=15319199

Family Applications (1)

Application Number Title Priority Date Filing Date
JP55142605A Granted JPS5769314A (en) 1980-10-13 1980-10-13 Numerical control system

Country Status (6)

Country Link
US (1) US4626756A (en, 2012)
EP (1) EP0062075B1 (en, 2012)
JP (1) JPS5769314A (en, 2012)
KR (1) KR880001647B1 (en, 2012)
DE (1) DE3177094D1 (en, 2012)
WO (1) WO1982001426A1 (en, 2012)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60220408A (ja) * 1984-04-18 1985-11-05 Hitachi Ltd 関節形ロボツト用制御装置
JPS6126106A (ja) * 1984-07-16 1986-02-05 Fanuc Ltd 工具位置補正方式
JPH074739B2 (ja) * 1985-07-01 1995-01-25 フアナツク株式会社 デジタイジング方法
JPH0778682B2 (ja) * 1985-08-07 1995-08-23 株式会社日立製作所 ロボツトの制御方式
JP2512099B2 (ja) * 1988-08-24 1996-07-03 松下電器産業株式会社 ロボットの動作教示方法および制御装置
US5508596A (en) * 1993-10-07 1996-04-16 Omax Corporation Motion control with precomputation
JP3274272B2 (ja) * 1994-03-08 2002-04-15 ファナック株式会社 座標系の手動送り方法並びにロボット制御装置
JP3804994B2 (ja) * 1994-07-15 2006-08-02 ファナック株式会社 ロボットの教示方法
CA2747118C (en) 2005-03-23 2015-02-10 Hurco Companies, Inc. Method of curvature controlled data smoothing
US8024068B2 (en) 2006-08-04 2011-09-20 Hurco Companies, Inc. Machine tool control system
US8725283B2 (en) 2006-08-04 2014-05-13 Hurco Companies, Inc. Generalized kinematics system
TWI353496B (en) 2006-08-04 2011-12-01 Hurco Co Inc System and method and computer readable medium for
US7933677B2 (en) 2006-08-04 2011-04-26 Hurco Companies, Inc. System and method for surface finish management
JP5276488B2 (ja) * 2009-03-20 2013-08-28 株式会社森精機製作所 工作機械における工作物測定装置およびその方法
US8904912B2 (en) 2012-08-16 2014-12-09 Omax Corporation Control valves for waterjet systems and related devices, systems, and methods
US10859997B1 (en) 2017-12-04 2020-12-08 Omax Corporation Numerically controlled machining
US11554461B1 (en) 2018-02-13 2023-01-17 Omax Corporation Articulating apparatus of a waterjet system and related technology
US12051316B2 (en) 2019-12-18 2024-07-30 Hypertherm, Inc. Liquid jet cutting head sensor systems and methods
US12064893B2 (en) 2020-03-24 2024-08-20 Hypertherm, Inc. High-pressure seal for a liquid jet cutting system
EP4127479A1 (en) 2020-03-30 2023-02-08 Hypertherm, Inc. Cylinder for a liquid jet pump with multi-functional interfacing longitudinal ends

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5343629B2 (en, 2012) * 1971-04-14 1978-11-21
JPS5524609B2 (en, 2012) * 1973-07-12 1980-06-30
US4031369A (en) * 1975-08-12 1977-06-21 The Bendix Corporation Interpolation and control apparatus and method for a numerical control system
US4260940A (en) * 1975-10-28 1981-04-07 Unimation, Inc. Programmable automatic assembly system
US4163183A (en) * 1975-10-28 1979-07-31 Unimation, Inc. Programmable automatic assembly system
JPS5312749A (en) * 1977-01-20 1978-02-04 Shin Meiwa Ind Co Ltd Speed controller for automatic welding machine
US4201937A (en) * 1978-04-07 1980-05-06 Unimation, Inc. Control apparatus for programmable manipulator
US4420812A (en) * 1979-09-14 1983-12-13 Tokico, Ltd. Teaching- playback robot
US4385358A (en) * 1979-10-19 1983-05-24 Tokico Ltd. Robot
JPH0526979A (ja) * 1991-07-19 1993-02-05 Kawasaki Steel Corp テスト容易化回路

Also Published As

Publication number Publication date
WO1982001426A1 (en) 1982-04-29
KR880001647B1 (ko) 1988-09-03
DE3177094D1 (en) 1989-10-05
KR830008227A (ko) 1983-11-16
EP0062075A1 (en) 1982-10-13
EP0062075B1 (en) 1989-08-30
JPS5769314A (en) 1982-04-28
US4626756A (en) 1986-12-02
EP0062075A4 (en) 1985-11-14

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