KR100449429B1 - 로봇의교시장치 - Google Patents

로봇의교시장치 Download PDF

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Publication number
KR100449429B1
KR100449429B1 KR10-1998-0701841A KR19980701841A KR100449429B1 KR 100449429 B1 KR100449429 B1 KR 100449429B1 KR 19980701841 A KR19980701841 A KR 19980701841A KR 100449429 B1 KR100449429 B1 KR 100449429B1
Authority
KR
South Korea
Prior art keywords
teaching
robot
electric
handle
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.)
Expired - Fee Related
Application number
KR10-1998-0701841A
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English (en)
Korean (ko)
Other versions
KR19990044591A (ko
Inventor
히데오 나가다
요이찌 다나까
야스유끼 이노우에
히로다까 모리다
Original Assignee
가부시키가이샤 야스가와덴끼
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
Priority claimed from JP26232795A external-priority patent/JP3465252B2/ja
Priority claimed from JP26791695A external-priority patent/JP3465253B2/ja
Priority claimed from JP33596195A external-priority patent/JP3632268B2/ja
Application filed by 가부시키가이샤 야스가와덴끼 filed Critical 가부시키가이샤 야스가와덴끼
Publication of KR19990044591A publication Critical patent/KR19990044591A/ko
Application granted granted Critical
Publication of KR100449429B1 publication Critical patent/KR100449429B1/ko
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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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
    • 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
    • G05B2219/36457—During teaching, force set point is automatically adapted to circumstances
    • 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
    • G05B2219/36473—Prohibit teaching if force, speed, acceleration of end effector is out of safe range

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
KR10-1998-0701841A 1995-09-14 1996-09-13 로봇의교시장치 Expired - Fee Related KR100449429B1 (ko)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP26232795A JP3465252B2 (ja) 1995-09-14 1995-09-14 ロボットのダイレクトティーチング装置
JP1995-262327 1995-09-14
JP1995-267916 1995-09-20
JP26791695A JP3465253B2 (ja) 1995-09-20 1995-09-20 ロボットの直接教示装置
JP1995-335961 1995-11-29
JP33596195A JP3632268B2 (ja) 1995-11-29 1995-11-29 ロボットの直接教示装置

Publications (2)

Publication Number Publication Date
KR19990044591A KR19990044591A (ko) 1999-06-25
KR100449429B1 true KR100449429B1 (ko) 2004-12-13

Family

ID=27335118

Family Applications (1)

Application Number Title Priority Date Filing Date
KR10-1998-0701841A Expired - Fee Related KR100449429B1 (ko) 1995-09-14 1996-09-13 로봇의교시장치

Country Status (6)

Country Link
US (1) US6212443B1 (enExample)
EP (1) EP0850730B1 (enExample)
KR (1) KR100449429B1 (enExample)
CN (1) CN1060715C (enExample)
DE (1) DE69622572T2 (enExample)
WO (1) WO1997010080A1 (enExample)

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KR101307782B1 (ko) * 2011-08-17 2013-09-26 한국과학기술연구원 로봇의 직접 교시 및 재생 방법 및 이를 구현하는 로봇 제어 장치
US9213321B2 (en) 2011-09-19 2015-12-15 Hanwha Techwin Co., Ltd. Control System for rotating shaft

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DE69622572D1 (de) 2002-08-29
CN1200691A (zh) 1998-12-02
EP0850730B1 (en) 2002-07-24
EP0850730A1 (en) 1998-07-01
CN1060715C (zh) 2001-01-17
US6212443B1 (en) 2001-04-03
DE69622572T2 (de) 2003-04-03
EP0850730A4 (enExample) 1998-07-29
KR19990044591A (ko) 1999-06-25

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