KR890007142A - 로보트에 있어서의 교시데이터의 기록·재생방법 - Google Patents

로보트에 있어서의 교시데이터의 기록·재생방법 Download PDF

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Publication number
KR890007142A
KR890007142A KR1019880013663A KR880013663A KR890007142A KR 890007142 A KR890007142 A KR 890007142A KR 1019880013663 A KR1019880013663 A KR 1019880013663A KR 880013663 A KR880013663 A KR 880013663A KR 890007142 A KR890007142 A KR 890007142A
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KR
South Korea
Prior art keywords
robot
recording
teaching data
data
teaching
Prior art date
Application number
KR1019880013663A
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English (en)
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KR920000728B1 (ko
Inventor
유다까 기무라
히로시 오꾸무라
Original Assignee
아까즈 노부아끼
미쯔비시주우고오교오 가부시기가이샤
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.)
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Publication date
Application filed by 아까즈 노부아끼, 미쯔비시주우고오교오 가부시기가이샤 filed Critical 아까즈 노부아끼
Publication of KR890007142A publication Critical patent/KR890007142A/ko
Application granted granted Critical
Publication of KR920000728B1 publication Critical patent/KR920000728B1/ko

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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
    • 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
    • G05B2219/36471—Recording speed different from playback speed
    • 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
    • G05B2219/36476—Record points if sufficient difference with previous position exists
    • 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
    • G05B2219/36478—Record on predetermined time, read in position, measured data

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

내용 없음

Description

로보트에 있어서의 교시데이터의 기록ㆍ재생방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제 1 도는 본 발명의 싱시예에 있어서의 6축제어의 로보트에 궤적을 교시하기 위한 회로구성을 도시한 블록도.
제 3 도는 본 발명의 교시방식에 의해서 로보트의 어떤 1축의 궤적과, 메모리에 격납하는 위치데어터를 표시한 설명도.
제 4 도는 제 3 도에 도시한 교시에 의해서 격납된 교시데이터를 재생하였을 경우의 로보트의 어떤 1축의 궤적을 표시한 도면.

Claims (1)

  1. 로보트의 아암아니 축으로 이루어진 기체를 움직여서 그 궤적을 미리 정해진 시간마다 샘플링해서 티이칭을 행하는 로보트에 있어서, 전회 기억한 위치 데이터로부터 유의차분이상 변화한 위치 데이타만을 교시 데이터로서 기록하고, 재생시에는 티이칭시의 이동에 소요된 시간과 무관계로 상기 교시 데이터를 일정시간마다 위치데어터로서 재생하는 것을 특징으로 하는 로보트에 있어서의 교시데이터의 기록ㆍ재생방법.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019880013663A 1987-10-23 1988-10-20 로보트에 있어서의 교시데이터의 기록·재생방법 KR920000728B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP62-266527 1987-10-23
JP62266527A JP2511072B2 (ja) 1987-10-23 1987-10-23 ロボットにおける教示デ―タの記録・再生方法

Publications (2)

Publication Number Publication Date
KR890007142A true KR890007142A (ko) 1989-06-19
KR920000728B1 KR920000728B1 (ko) 1992-01-21

Family

ID=17432127

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019880013663A KR920000728B1 (ko) 1987-10-23 1988-10-20 로보트에 있어서의 교시데이터의 기록·재생방법

Country Status (9)

Country Link
US (1) US5461700A (ko)
EP (1) EP0312716B1 (ko)
JP (1) JP2511072B2 (ko)
KR (1) KR920000728B1 (ko)
CN (1) CN1022069C (ko)
AU (1) AU604951B2 (ko)
CA (1) CA1338745C (ko)
DE (1) DE3853332T2 (ko)
MY (1) MY103112A (ko)

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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
JPH1058362A (ja) * 1996-08-13 1998-03-03 Fanuc Ltd 産業用ロボットによるステッチ加工方法
JP5622625B2 (ja) * 2011-03-22 2014-11-12 三菱電機株式会社 ティーチング装置およびティーチング方法
JP6052815B2 (ja) 2014-09-30 2016-12-27 インターナショナル・ビジネス・マシーンズ・コーポレーションＩｎｔｅｒｎａｔｉｏｎａｌ Ｂｕｓｉｎｅｓｓ Ｍａｃｈｉｎｅｓ Ｃｏｒｐｏｒａｔｉｏｎ 導波路用のコネクタおよびアライメント方法
CN104959983B (zh) * 2015-05-26 2017-01-18 南京阿福机器人有限公司 机器人手执示教方法
CN104907208A (zh) * 2015-06-27 2015-09-16 奇瑞汽车股份有限公司 一种喷漆机器人的计算机控制系统
US10162736B2 (en) 2016-11-17 2018-12-25 International Business Machines Corporation Smart emulator for wearable devices
US10229318B2 (en) 2017-02-21 2019-03-12 International Business Machines Corporation Activity-based robotic testing of wearable devices
JP7201168B2 (ja) * 2019-01-23 2023-01-10 旭サナック株式会社 塗装用プログラム作成装置、塗装用プログラムの作成方法
JP7426333B2 (ja) * 2020-11-30 2024-02-01 株式会社ダイヘン ロボット制御装置

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Also Published As

Publication number Publication date
CN1033701A (zh) 1989-07-05
EP0312716A2 (en) 1989-04-26
JPH01111207A (ja) 1989-04-27
JP2511072B2 (ja) 1996-06-26
AU604951B2 (en) 1991-01-03
MY103112A (en) 1993-04-30
CA1338745C (en) 1996-11-26
AU2041688A (en) 1989-04-27
DE3853332D1 (de) 1995-04-20
EP0312716B1 (en) 1995-03-15
US5461700A (en) 1995-10-24
DE3853332T2 (de) 1995-08-03
KR920000728B1 (ko) 1992-01-21
CN1022069C (zh) 1993-09-08
EP0312716A3 (en) 1990-10-03

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