KR880700329A - 로보트 제어방식 - Google Patents

로보트 제어방식

Info

Publication number
KR880700329A
KR880700329A KR870700153A KR870700153A KR880700329A KR 880700329 A KR880700329 A KR 880700329A KR 870700153 A KR870700153 A KR 870700153A KR 870700153 A KR870700153 A KR 870700153A KR 880700329 A KR880700329 A KR 880700329A
Authority
KR
South Korea
Prior art keywords
control method
robot control
robot
control
Prior art date
Application number
KR870700153A
Other languages
English (en)
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 filed Critical
Publication of KR880700329A publication Critical patent/KR880700329A/ko

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
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B19/408—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 data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting programme, configuration
    • 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
    • G05B2219/36503—Adapt program to real coordinates, software orientation
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37572—Camera, tv, vision
    • 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
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50353—Tool, probe inclination, orientation to surface, posture, attitude
KR870700153A 1985-06-25 1987-02-24 로보트 제어방식 KR880700329A (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP60138334A JPS61296409A (ja) 1985-06-25 1985-06-25 ロボツト制御方式
PCT/JP1986/000319 WO1987000310A1 (en) 1985-06-25 1986-06-24 Robot control system

Publications (1)

Publication Number Publication Date
KR880700329A true KR880700329A (ko) 1988-02-22

Family

ID=15219479

Family Applications (1)

Application Number Title Priority Date Filing Date
KR870700153A KR880700329A (ko) 1985-06-25 1987-02-24 로보트 제어방식

Country Status (6)

Country Link
US (1) US4899095A (ko)
EP (1) EP0228471B1 (ko)
JP (1) JPS61296409A (ko)
KR (1) KR880700329A (ko)
DE (1) DE3689038T2 (ko)
WO (1) WO1987000310A1 (ko)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
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US4831549A (en) * 1987-07-28 1989-05-16 Brigham Young University Device and method for correction of robot inaccuracy
JP2710850B2 (ja) * 1989-03-27 1998-02-10 キヤノン株式会社 ワーク把持装置、ワーク及びその収納ケース
JP2694669B2 (ja) * 1989-06-09 1997-12-24 株式会社日立製作所 ロボットの動作制御方法
US5341459A (en) * 1991-05-09 1994-08-23 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Generalized compliant motion primitive
US5345540A (en) * 1991-07-12 1994-09-06 Hewlett-Packard Company Methods for automatically programming spatial information in robotic systems
US5761390A (en) * 1991-12-12 1998-06-02 Hitachi, Ltd. Robot for removing unnecessary portion on workpiece
JPH10329065A (ja) * 1997-05-30 1998-12-15 Matsushita Electric Ind Co Ltd ロボットの位置ずれ補正方法
WO2005017820A1 (en) * 2003-08-15 2005-02-24 Scape A/S Computer-vision system for classification and spatial localization of bounded 3d-objects
US20060047363A1 (en) * 2004-08-31 2006-03-02 Farrelly Philip J Machine vision system for lab workcells
JP3773943B2 (ja) * 2004-09-24 2006-05-10 国立大学法人 東京大学 把持状態判定システム及び方法
US8000837B2 (en) * 2004-10-05 2011-08-16 J&L Group International, Llc Programmable load forming system, components thereof, and methods of use
CA2533219A1 (en) * 2005-12-02 2007-06-02 Hudson Control Group, Inc. Systems and methods for automated proteomics research
US8560047B2 (en) 2006-06-16 2013-10-15 Board Of Regents Of The University Of Nebraska Method and apparatus for computer aided surgery
JP5533727B2 (ja) * 2011-02-18 2014-06-25 株式会社安川電機 ワークピッキングシステム
CN102794771A (zh) * 2011-05-24 2012-11-28 鸿富锦精密工业（深圳）有限公司 机械手臂校正系统及方法
US11911117B2 (en) 2011-06-27 2024-02-27 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US10219811B2 (en) 2011-06-27 2019-03-05 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US9498231B2 (en) 2011-06-27 2016-11-22 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
KR101941844B1 (ko) * 2012-01-10 2019-04-11 삼성전자주식회사 로봇 및 그 제어방법
US10105149B2 (en) 2013-03-15 2018-10-23 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
JP6273783B2 (ja) * 2013-11-07 2018-02-07 富士通株式会社 ツール先端点情報補正プログラム、ツール先端点情報補正装置、及び、ツール先端点情報補正方法
JP5986125B2 (ja) * 2014-02-28 2016-09-06 ファナック株式会社 無線センサを有する機械システム
CA3022888A1 (en) 2016-05-12 2017-11-16 Dreco Energy Services Ulc System and method for offline standbuilding
CN107297399B (zh) * 2017-08-08 2018-10-16 南京埃斯顿机器人工程有限公司 一种机器人自动寻找折弯位置的方法
CN109693235B (zh) * 2017-10-23 2020-11-20 中国科学院沈阳自动化研究所 一种仿人眼视觉跟踪装置及其控制方法
EP3788319A1 (en) 2018-04-30 2021-03-10 Path Robotics, Inc. Reflection refuting laser scanner
US11035183B2 (en) 2018-08-03 2021-06-15 National Oilwell Varco, L.P. Devices, systems, and methods for top drive clearing
WO2020151386A1 (en) 2019-01-25 2020-07-30 National Oilwell Varco, L.P. Pipe handling arm
US11834914B2 (en) 2020-02-10 2023-12-05 National Oilwell Varco, L.P. Quick coupling drill pipe connector
US11274508B2 (en) 2020-03-31 2022-03-15 National Oilwell Varco, L.P. Robotic pipe handling from outside a setback area
US11407110B2 (en) 2020-07-17 2022-08-09 Path Robotics, Inc. Real time feedback and dynamic adjustment for welding robots
US11365592B1 (en) * 2021-02-02 2022-06-21 National Oilwell Varco, L.P. Robot end-effector orientation constraint for pipe tailing path
EP4297937A1 (en) 2021-02-24 2024-01-03 Path Robotics, Inc. Autonomous welding robots
US11814911B2 (en) 2021-07-02 2023-11-14 National Oilwell Varco, L.P. Passive tubular connection guide

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3804270A (en) * 1973-01-12 1974-04-16 Bendix Corp Bulk storage and automatic presenter system with image producing means
JPS50112969A (ko) * 1974-02-18 1975-09-04
US4017721A (en) * 1974-05-16 1977-04-12 The Bendix Corporation Method and apparatus for determining the position of a body
US3986007A (en) * 1975-08-20 1976-10-12 The Bendix Corporation Method and apparatus for calibrating mechanical-visual part manipulating system
US4105925A (en) * 1977-03-14 1978-08-08 General Motors Corporation Optical object locator
US4373804A (en) * 1979-04-30 1983-02-15 Diffracto Ltd. Method and apparatus for electro-optically determining the dimension, location and attitude of objects
US4380696A (en) * 1980-11-12 1983-04-19 Unimation, Inc. Method and apparatus for manipulator welding apparatus with vision correction for workpiece sensing
JPS59227382A (ja) * 1983-06-10 1984-12-20 株式会社日立製作所 精密位置決めシステム
JPS6015780A (ja) * 1983-07-08 1985-01-26 Hitachi Ltd ロボット制御装置
JPS6037007A (ja) * 1983-08-08 1985-02-26 Hitachi Ltd 画像処理装置の座標変換パラメタ決定方式
JPS6154506A (ja) * 1984-08-24 1986-03-18 Fanuc Ltd ア−ク開始点探索時のツ−ルの探索姿勢制御方式
JP2964113B2 (ja) * 1992-07-20 1999-10-18 東京エレクトロン株式会社 処理装置

Also Published As

Publication number Publication date
EP0228471A1 (en) 1987-07-15
JPS61296409A (ja) 1986-12-27
DE3689038D1 (de) 1993-10-21
WO1987000310A1 (en) 1987-01-15
EP0228471A4 (en) 1989-10-24
EP0228471B1 (en) 1993-09-15
DE3689038T2 (de) 1994-01-27
US4899095A (en) 1990-02-06

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Legal Events

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