KR900009223A - 로보트에 있어서의 교시위치데이터의 수정·재생방법 - Google Patents

로보트에 있어서의 교시위치데이터의 수정·재생방법 Download PDF

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Publication number
KR900009223A
KR900009223A KR1019890016994A KR890016994A KR900009223A KR 900009223 A KR900009223 A KR 900009223A KR 1019890016994 A KR1019890016994 A KR 1019890016994A KR 890016994 A KR890016994 A KR 890016994A KR 900009223 A KR900009223 A KR 900009223A
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KR
South Korea
Prior art keywords
robot
position data
teaching position
replay
correct
Prior art date
Application number
KR1019890016994A
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English (en)
Other versions
KR920008804B1 (ko
Inventor
히로시 키무라
Original Assignee
우에다 쇼오지
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.)
Filing date
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Application filed by 우에다 쇼오지, 미쯔비시주우고오교오 가부시기가이샤 filed Critical 우에다 쇼오지
Publication of KR900009223A publication Critical patent/KR900009223A/ko
Application granted granted Critical
Publication of KR920008804B1 publication Critical patent/KR920008804B1/ko

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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
    • 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
    • G05B2219/36421—Assist in correction of position to form a circle or line

Abstract

내용 없음.

Description

로보트에 있어서의 교시위치데이터의 수정·재생방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 일실시예에 있어서의 6축 제어의 로보트에 궤적을 교시하기 위한 회로구성을 표시한 블록도.
제2도는 본 발명의 일실시예에 있어서의 6축 제어의 로보트를 구동하기 위한 회로구성을 표시한 블록도.
제3도 및 제5도는 각각 종래의 기술에 의해서 기록된 로보트 아암선단의 공구(TOOL) 또는 겨낭점의 위치데이터 및 그 재생궤적을 표시한 설명도.

Claims (2)

  1. 로보트의 기체를 구성하는 아암이나 손목축등을 움직여서 그 궤적을 미리 정해진 시간 또는 이동거리등의 주기마다 기록해서 리이칭을 행하는 로보트에 있어서, 리이칭종료후 기록된 위치데이터를 직선 혹은 원호등의 정해진 패턴상으로 수정해서 재행하는 것을 특징으로 하는 로보트에 있어서의 교시위치데이터의 수정·재생방법.
  2. 제1항에 있어서, 상기 로보트에 있어서의 교시위치데이터의 수정 재생방법에 있어서, 재생개시전에 미리 위치데이터를 정해진 패턴상으로 수정해서 수정기록하는 것을 특징으로 하는 로보트에 있어서의 교시위치데이터의 수정·재생방법.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019890016994A 1988-12-14 1989-11-22 로보트에 있어서의 교시위치데이터의 수정·재생방법 KR920008804B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP63315621A JPH02161503A (ja) 1988-12-14 1988-12-14 ロボットにおける教示位置データの修正・再生方法
JP88-315621 1988-12-14
JP89-16994 1988-12-14

Publications (2)

Publication Number Publication Date
KR900009223A true KR900009223A (ko) 1990-07-02
KR920008804B1 KR920008804B1 (ko) 1992-10-09

Family

ID=18067569

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019890016994A KR920008804B1 (ko) 1988-12-14 1989-11-22 로보트에 있어서의 교시위치데이터의 수정·재생방법

Country Status (5)

Country Link
US (1) US5003237A (ko)
JP (1) JPH02161503A (ko)
KR (1) KR920008804B1 (ko)
GB (1) GB2226425B (ko)
MY (1) MY106234A (ko)

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JP2511072B2 (ja) * 1987-10-23 1996-06-26 三菱重工業株式会社 ロボットにおける教示デ―タの記録・再生方法
WO1991009183A1 (en) * 1989-12-12 1991-06-27 Kabushiki Kaisha Komatsu Seisakusho Method and apparatus for automating work of construction equipment
EP0530401B1 (de) * 1991-09-06 1996-07-24 Siemens Aktiengesellschaft Verfahren zum Auslösen von positionsbezogenen Schaltvorgängen während eines von einem Roboter oder einer Werkzeugmaschine ausgeführten Bearbeitungsvorganges
GB2277169A (en) * 1993-03-17 1994-10-19 Megamount Inc Control systems for a camera
JPH07261821A (ja) * 1994-03-16 1995-10-13 Fanuc Ltd 負荷による撓みを考慮したロボット軌道計画方法
JP3529158B2 (ja) * 1994-05-18 2004-05-24 ファナック株式会社 ロボット動作プログラミング方法及びプログラミング装置
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
FR2737024B1 (fr) * 1995-07-20 1997-10-10 Patenotre Laurent Procede d'apprentissage de forme geometrique, notamment de trajectoire ou de contour, et systemes mettant en oeuvre ce procede
US6463358B1 (en) * 1996-11-26 2002-10-08 Fanuc Ltd. Robot control device having operation route simulation function
JPH11156672A (ja) * 1997-08-25 1999-06-15 Yoshiaki Kakino 数値制御装置及びこれを備えた工作機械
JP4578056B2 (ja) * 2003-02-06 2010-11-10 株式会社ダイヘン 作業ロボットを用いた制御システムによるワーク加工方法
JP6348141B2 (ja) * 2016-04-28 2018-06-27 ファナック株式会社 付加軸の状態が含まれる動作プログラムを表示するロボットの制御装置
JP6802961B2 (ja) * 2016-07-07 2020-12-23 旭サナック株式会社 ロボットの動作制御データ生成方法、動作制御データ生成装置、及び、動作制御データ生成プログラム
JP2018176288A (ja) 2017-04-03 2018-11-15 ファナック株式会社 ロボットの教示装置
CN107584493B (zh) * 2017-08-29 2020-08-14 成都乐创自动化技术股份有限公司 一种捕捉目标示教点的方法及系统
JP7021621B2 (ja) * 2018-09-18 2022-02-17 株式会社デンソーウェーブ ロボットの動作軌道作成装置
JP6826153B2 (ja) * 2019-05-07 2021-02-03 ファナック株式会社 ロボットの教示装置
CN114661038A (zh) * 2020-12-22 2022-06-24 北京配天技术有限公司 一种机器人回程序原点控制方法、装置及相关组件

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IT1043940B (it) * 1974-12-20 1980-02-29 Fiat Spa Apparecchaitura per il controllo di una macchina operatrice del tipo robot
US4362977A (en) * 1980-06-30 1982-12-07 International Business Machines Corporation Method and apparatus for calibrating a robot to compensate for inaccuracy of the robot
DE3046634C2 (de) * 1980-12-11 1983-01-13 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Verfahren zum Programmieren eines Industrie-Roboters
DE3113970A1 (de) * 1981-04-07 1982-11-04 Dr. Johannes Heidenhain Gmbh, 8225 Traunreut Numerische bahnsteuerung fuer eine werkzeugmaschine
JPS5927307A (ja) * 1982-08-04 1984-02-13 Hitachi Ltd 経路制御方法及び装置
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JP2506760B2 (ja) * 1986-05-12 1996-06-12 松下電器産業株式会社 ロボットの制御装置
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Also Published As

Publication number Publication date
MY106234A (en) 1995-04-29
US5003237A (en) 1991-03-26
GB2226425B (en) 1993-04-21
GB2226425A (en) 1990-06-27
JPH02161503A (ja) 1990-06-21
GB8924168D0 (en) 1989-12-13
KR920008804B1 (ko) 1992-10-09

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