KR840001873A - 프리세트(preset)식 로보트에 대한 포인트(point) 특정방식 - Google Patents

프리세트(preset)식 로보트에 대한 포인트(point) 특정방식 Download PDF

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Publication number
KR840001873A
KR840001873A KR1019820004463A KR820004463A KR840001873A KR 840001873 A KR840001873 A KR 840001873A KR 1019820004463 A KR1019820004463 A KR 1019820004463A KR 820004463 A KR820004463 A KR 820004463A KR 840001873 A KR840001873 A KR 840001873A
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South Korea
Prior art keywords
robot
coordinates
modified
electrical
measuring method
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KR1019820004463A
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English (en)
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KR880000559B1 (ko
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가즈요시 야스가와 (외 1)
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구보다 미노루
가부시기 가이샤 산교우 세이기 세이사구쇼
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Publication of KR840001873A publication Critical patent/KR840001873A/ko
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33263—Conversion, transformation of coordinates, cartesian or polar
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35354—Polar coordinates, turntable
    • 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
    • G05B2219/36043—Correction or modification of program
    • 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
    • G05B2219/36159—Detachable or portable programming unit, display, pc, pda

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • General Physics & Mathematics (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

내용 없음

Description

프리세트(preset)식 로보트에 대한 포인트(point) 특정방식
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 근거가 되는 제어시스템의 블록다이어그램(Block diagram)이다.
제2도는 본 발명에 따라 포인트 특정방식을 예시한 흐름도(flowchart)이다.

Claims (5)

  1. 본 방식은 프리세트식 로보트에 대한 포인트측정방식으로서 이를 구성하는 프로그래밍 장치(2)와 로보트제어장치(3)은 서로 분리되어 좌표입력에 근거하여 프로그램을 작성한 후 전기 두 장치는 온라인 시스템으로 상호 연결되어 프로그램을 로보트제어장치(3)으로 전달하며, 전기 제어장치(3)내에 프로그램을 저장하며 로보트(1)는 해독된 프로그램의 제어 아래 작동하게 되고, 전기의 방식은 다음의 각 단계들, 즉 전기 프로그래밍장치(2)와 전기 로보트 제어장치(3)을 온라인 시스템으로 상호 연결시키는 단계; 전기 로보트(1)의 요구되는 동작경로를 나타내는 측정된 점들을 연속 좌표로서 입력시키는 단계; 입력된 좌표와 요구되는 위치상에 차이가 있을 경우 로보트(1)을 미소거리로 이동시킴으로써, 로보트(1)의 요구되는 동작경로를 나타내는 전기 좌표를 수정하는 단계; 수정된 좌표를 디스플레이장치(9)에 나타내주는 단계; 그리고 그러한 수정된 좌표를 입력좌표로 사용하여 전기한 로보트을 작동시키는 단계등으로 구성된 포인트측정방식.
  2. 청구범위 1항과 관련되어, 좌표를 수정하는 단계에, 로보트(1)를 요구되는 위치까지 도달할 때까지 미소거리 만큼씩 수정 이동하게 하는 것과, 전기 요구되는 위치에 따라 로보트의 요구되는 동작경로를 나타내는 좌표를 수정하는 작업등을 포함하는 포인트 측정방식.
  3. 청구범위 1항과 관련되어 디스플레이단계에서는 공급되는 입력들을 시각적으로 나타내주는 포인트 측정방식.
  4. 청구범위 1항과 관련되어, 전기좌표는 직교 좌표계로서 표시되며, 수정된 좌표를 사용하는 단계에서는 수정된 좌표를 극좌표계로 변환시키는 작업으로 이루어진 포인트 측정방식.
  5. 청구범위 1항과 관련되어 입력좌표를 로보트(1)의 요구되는 동작경로를 나타내는 도표형태의 표시로서 공급하게 하는 포인트 측정방식.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR8204463A 1981-10-05 1982-10-04 프리세트(Preset)식 로보트에 대한 포인트(point)특정방식 KR880000559B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP81-158477 1981-10-05
JP???158477 1981-10-05
JP56158477A JPS5858607A (ja) 1981-10-05 1981-10-05 プリセツト式ロボツトにおけるポイント測定方式

Publications (2)

Publication Number Publication Date
KR840001873A true KR840001873A (ko) 1984-06-07
KR880000559B1 KR880000559B1 (ko) 1988-04-15

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KR8204463A KR880000559B1 (ko) 1981-10-05 1982-10-04 프리세트(Preset)식 로보트에 대한 포인트(point)특정방식

Country Status (9)

Country Link
US (1) US4595989A (ko)
EP (1) EP0076970B1 (ko)
JP (1) JPS5858607A (ko)
KR (1) KR880000559B1 (ko)
AT (1) ATE19159T1 (ko)
AU (1) AU558851B2 (ko)
CA (1) CA1206232A (ko)
DE (1) DE3270453D1 (ko)
ES (1) ES516210A0 (ko)

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Also Published As

Publication number Publication date
US4595989A (en) 1986-06-17
EP0076970B1 (en) 1986-04-09
ATE19159T1 (de) 1986-04-15
DE3270453D1 (en) 1986-05-15
ES8307151A1 (es) 1983-06-16
AU558851B2 (en) 1987-02-12
KR880000559B1 (ko) 1988-04-15
JPH048802B2 (ko) 1992-02-18
AU8910482A (en) 1983-04-14
ES516210A0 (es) 1983-06-16
EP0076970A1 (en) 1983-04-20
CA1206232A (en) 1986-06-17
JPS5858607A (ja) 1983-04-07

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