JPS6487174A - Controller for industrial robot - Google Patents
Controller for industrial robotInfo
- Publication number
- JPS6487174A JPS6487174A JP62238125A JP23812587A JPS6487174A JP S6487174 A JPS6487174 A JP S6487174A JP 62238125 A JP62238125 A JP 62238125A JP 23812587 A JP23812587 A JP 23812587A JP S6487174 A JPS6487174 A JP S6487174A
- Authority
- JP
- Japan
- Prior art keywords
- teaching
- brake
- servo motor
- control circuit
- condition
- 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.)
- Pending
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
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/427—Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave 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
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- 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
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/421—Teaching successive positions by mechanical means, e.g. by mechanically-coupled handwheels to position tool head or end effector
-
- 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
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a 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
- G05B2219/36422—During teaching shut off, disable motor to move arm easy
-
- 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
- G05B2219/36423—During teaching release brake or decouple clutch from motor
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62238125A JPS6487174A (en) | 1987-09-22 | 1987-09-22 | Controller for industrial robot |
PCT/JP1988/000938 WO1989002811A1 (en) | 1987-09-22 | 1988-09-14 | Apparatus for controlling industrial robot |
US07/350,709 US4931711A (en) | 1987-09-22 | 1988-09-14 | Industrial robot control apparatus |
EP19880908330 EP0333874A4 (en) | 1987-09-22 | 1988-09-14 | Apparatus for controlling industrial robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62238125A JPS6487174A (en) | 1987-09-22 | 1987-09-22 | Controller for industrial robot |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6487174A true JPS6487174A (en) | 1989-03-31 |
Family
ID=17025550
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP62238125A Pending JPS6487174A (en) | 1987-09-22 | 1987-09-22 | Controller for industrial robot |
Country Status (4)
Country | Link |
---|---|
US (1) | US4931711A (ja) |
EP (1) | EP0333874A4 (ja) |
JP (1) | JPS6487174A (ja) |
WO (1) | WO1989002811A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1997007941A1 (fr) * | 1995-08-25 | 1997-03-06 | Fanuc Ltd | Appareil robotise pour l'apprentissage de trajectoires |
JP2017064878A (ja) * | 2015-10-02 | 2017-04-06 | ファナック株式会社 | ロボットを操作するハンドルを備えたロボット用操作装置 |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4595571A (en) * | 1984-09-05 | 1986-06-17 | Galik George M | Liquid-liquid extractor and method for using same |
JPH03240106A (ja) * | 1990-02-16 | 1991-10-25 | Mitsubishi Heavy Ind Ltd | ダイレクト教示方式ロボットの教示装置 |
FR2691093B1 (fr) * | 1992-05-12 | 1996-06-14 | Univ Joseph Fourier | Robot de guidage de gestes et procede de commande. |
US5327055A (en) * | 1993-03-08 | 1994-07-05 | International Business Machines Corporation | Mechanical brake hold circuit for an electric motor |
US5394069A (en) * | 1993-03-08 | 1995-02-28 | International Business Machines Corporation | Mechanical brake hold circuit for an electric motor |
US5760560A (en) * | 1993-10-21 | 1998-06-02 | Fanuc, Ltd. | Robot apparatus |
DE19834823C1 (de) * | 1998-08-01 | 1999-07-08 | Webasto Karosseriesysteme | Vorrichtung zum Verstellen von bewegbaren Teilen an Fahrzeugen |
DE19943318A1 (de) * | 1999-09-10 | 2001-03-22 | Charalambos Tassakos | Verfahren und Vorrichtung zum Erfassen der Position von Bahnpunkten einer Trajektorie |
JP3779523B2 (ja) * | 2000-04-07 | 2006-05-31 | 株式会社コヤマ | 位置教示方法 |
US6585561B2 (en) | 2000-04-07 | 2003-07-01 | Kabushiki Kaisha Koyama | Method of teaching position |
JP2003025271A (ja) * | 2001-07-16 | 2003-01-29 | Sankyo Seiki Mfg Co Ltd | ロボット制御装置 |
SE0103251D0 (sv) * | 2001-10-01 | 2001-10-01 | Abb Ab | Industrirobotsystem innefattande en programmerbar enhet |
US20050274563A1 (en) * | 2004-05-28 | 2005-12-15 | Bruce Ahnafield | Joystick-operated driving system |
JP2008307618A (ja) * | 2007-06-12 | 2008-12-25 | Denso Wave Inc | ロボットの制御装置 |
JP2011108044A (ja) * | 2009-11-18 | 2011-06-02 | Fanuc Ltd | N個のロボットを同時に制御するロボット制御装置 |
JP6527654B2 (ja) * | 2013-03-25 | 2019-06-05 | 株式会社デンソーウェーブ | アームの操作方法及び操作装置 |
JP6527655B2 (ja) * | 2013-03-25 | 2019-06-05 | 株式会社デンソーウェーブ | アームの操作方法及び操作装置 |
US9962835B2 (en) | 2013-12-17 | 2018-05-08 | Syddansk Universitet | Device for dynamic switching of robot control points |
DE102014204452A1 (de) * | 2014-03-11 | 2015-09-17 | Kuka Systems Gmbh | Verfahren zum Betreiben eines Roboters und zugehöriger Robotermit einer mechanischen Tastvorrichtung |
DE102015003696A1 (de) | 2015-03-20 | 2016-09-22 | Kuka Roboter Gmbh | Freigeben eines Betriebs einer Maschine |
EP3428754B1 (de) * | 2017-07-13 | 2023-02-15 | Siemens Aktiengesellschaft | Verfahren zum einrichten eines bewegungsautomaten und einrichtungsanordnung |
DE102018200892A1 (de) * | 2018-01-19 | 2019-07-25 | Kuka Deutschland Gmbh | Delta-Roboter mit einem Eingabemittel |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3135608C1 (de) * | 1981-09-09 | 1983-03-31 | Walter 8753 Obernburg Reis | Programmgesteuerter Manipulator |
FR2512570A1 (fr) * | 1981-09-09 | 1983-03-11 | Commissariat Energie Atomique | Systeme d'asservissement de position a retour d'effort avec retard de transmission et son application a un telemanipulateur |
DE3211992A1 (de) * | 1982-03-31 | 1983-10-06 | Wagner Gmbh J | Verfahren und vorrichtung zum programmieren eines roboters, insbesondere farbspritzroboters |
US4476954A (en) * | 1982-09-22 | 1984-10-16 | Johnson Engineering Corporation | Remote control for motor vehicle |
DE3313167A1 (de) * | 1983-04-12 | 1984-10-25 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Industrieroboter mit elektrischen drehstrom-einzelantrieben |
JPS60228064A (ja) * | 1984-04-20 | 1985-11-13 | Aida Eng Ltd | 研磨装置 |
JPS60138678U (ja) * | 1984-02-24 | 1985-09-13 | 株式会社神戸製鋼所 | ダイレクト教示型ロボツトの教示装置 |
JPS6171393U (ja) * | 1984-10-15 | 1986-05-15 | ||
JPH0690648B2 (ja) * | 1985-05-30 | 1994-11-14 | 松下電器産業株式会社 | ダイレクト教示ロボット |
JPS621004A (ja) * | 1985-05-30 | 1987-01-07 | Matsushita Electric Ind Co Ltd | ロボツト |
-
1987
- 1987-09-22 JP JP62238125A patent/JPS6487174A/ja active Pending
-
1988
- 1988-09-14 EP EP19880908330 patent/EP0333874A4/en not_active Withdrawn
- 1988-09-14 US US07/350,709 patent/US4931711A/en not_active Expired - Fee Related
- 1988-09-14 WO PCT/JP1988/000938 patent/WO1989002811A1/ja not_active Application Discontinuation
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1997007941A1 (fr) * | 1995-08-25 | 1997-03-06 | Fanuc Ltd | Appareil robotise pour l'apprentissage de trajectoires |
US5783922A (en) * | 1995-08-25 | 1998-07-21 | Fanuc Ltd. | Robot controller permitting lead-through teaching |
JP2017064878A (ja) * | 2015-10-02 | 2017-04-06 | ファナック株式会社 | ロボットを操作するハンドルを備えたロボット用操作装置 |
CN106826874A (zh) * | 2015-10-02 | 2017-06-13 | 发那科株式会社 | 机器人用操作装置 |
US10300608B2 (en) | 2015-10-02 | 2019-05-28 | Fanuc Corporation | Robot operating apparatus provided with handles for operating robot |
US11040456B2 (en) | 2015-10-02 | 2021-06-22 | Fanuc Corporation | Robot operating apparatus provided with handles for operating robot |
CN106826874B (zh) * | 2015-10-02 | 2021-06-29 | 发那科株式会社 | 机器人用操作装置 |
Also Published As
Publication number | Publication date |
---|---|
EP0333874A1 (en) | 1989-09-27 |
US4931711A (en) | 1990-06-05 |
WO1989002811A1 (en) | 1989-04-06 |
EP0333874A4 (en) | 1992-06-17 |
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