KR920701885A - 관절 로봇의 제어 방법 - Google Patents

관절 로봇의 제어 방법

Info

Publication number
KR920701885A
KR920701885A KR1019910701151A KR910701151A KR920701885A KR 920701885 A KR920701885 A KR 920701885A KR 1019910701151 A KR1019910701151 A KR 1019910701151A KR 910701151 A KR910701151 A KR 910701151A KR 920701885 A KR920701885 A KR 920701885A
Authority
KR
South Korea
Prior art keywords
point
axis
control method
articulated robot
controlling
Prior art date
Application number
KR1019910701151A
Other languages
English (en)
Other versions
KR0176249B1 (ko
Inventor
요시까쓰 미나미
마사또 다나까
Original Assignee
기꾸찌 꼬
가부시끼가이샤 야스까와 덴끼 세이사꾸쇼
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 by 기꾸찌 꼬, 가부시끼가이샤 야스까와 덴끼 세이사꾸쇼 filed Critical 기꾸찌 꼬
Publication of KR920701885A publication Critical patent/KR920701885A/ko
Application granted granted Critical
Publication of KR0176249B1 publication Critical patent/KR0176249B1/ko

Links

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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • 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
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40353—Split robot into two virtual robot, origin of second equals tip of first

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

내용 없음

Description

관절 로봇의 제어 방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명에 따른 관절 로봇 제어방식을 수행하기 위한 장치의 블록 다이어그램, 제2도는 제1및 제2제어점을 도시한 다이어그램, 제3도는 제2도를 상세히 도시한 다이어그램. 제4도는 본 발명에 따른 제어 방법을 도시한 다이어그램.

Claims (1)

  1. 6개축을 초과하여 12개까지의 축을 갖는 관절 로봇 제어 방법에 있어서, 6개축 또는 그 이하로 각기 구성된 두개의 군으로 축을, 여분축으로써 제공된 기준점에 인접하는 분할점의 한측상에 위치된 축과, 기본축으로써 제공된 로봇 손목에 인접하는 분할점의 다른 축상에 위치된 축으로 분할하는 단계와, 그리고 보간 방식에 의해 제1제어점으로써 분할점을 제어하고, 새로운 기준점으로 간주된 제어되어진 제1제어점을 보간 방식에 의해 제2제어점으로써 로봇 손목을 제어하는 단계를 포함함을 특징으로 하는 관절 로봇의 제어방법.
    ※ 참고사항 : 최초출원 내용에 의하여 공개되는 것임.
KR1019910701151A 1990-01-23 1991-01-21 관절 로봇의 제어 방법 KR0176249B1 (ko)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP011890/1990 1990-01-23
JP2011890A JP2874238B2 (ja) 1990-01-23 1990-01-23 多関節形ロボットの制御方法
JP11890/1990 1990-01-23
PCT/JP1991/000063 WO1991010945A1 (en) 1990-01-22 1991-01-21 Method of controlling articulated robot

Publications (2)

Publication Number Publication Date
KR920701885A true KR920701885A (ko) 1992-08-12
KR0176249B1 KR0176249B1 (ko) 1999-05-01

Family

ID=11790324

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019910701151A KR0176249B1 (ko) 1990-01-23 1991-01-21 관절 로봇의 제어 방법

Country Status (6)

Country Link
US (1) US5187418A (ko)
EP (1) EP0465661B1 (ko)
JP (1) JP2874238B2 (ko)
KR (1) KR0176249B1 (ko)
DE (1) DE69122185T2 (ko)
WO (1) WO1991010945A1 (ko)

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JP3402378B2 (ja) * 1993-02-01 2003-05-06 株式会社安川電機 ７軸マニピュレータの制御方法
JP3331674B2 (ja) * 1993-05-07 2002-10-07 株式会社安川電機 ７軸多関節ロボットマニピュレータの肘回転方法
FR2810573B1 (fr) * 2000-06-21 2002-10-11 Commissariat Energie Atomique Bras de commande a deux branches en parallele
JP4488811B2 (ja) * 2004-06-30 2010-06-23 川崎重工業株式会社 ロボット制御方法およびロボットシステム
JP4525325B2 (ja) * 2004-12-08 2010-08-18 トヨタ自動車株式会社 超冗長自由度ロボットの動作制御方法
JP5730179B2 (ja) * 2011-03-08 2015-06-03 株式会社神戸製鋼所 多関節型ロボットの制御装置，制御方法及び制御プログラム
JP2015037818A (ja) * 2013-08-17 2015-02-26 セイコーエプソン株式会社 ロボット、ロボットの制御方法、プログラム及び経路作成装置
EP2845696B1 (de) 2013-09-10 2017-05-17 Siemens Aktiengesellschaft Bearbeitungsmaschine mit redundanten Achsen und Auflösung der Redundanz in Echtzeit
JP2015174184A (ja) * 2014-03-14 2015-10-05 三菱重工業株式会社 制御装置
JP5946859B2 (ja) * 2014-04-14 2016-07-06 ファナック株式会社 力に応じて動かすロボットのロボット制御装置およびロボットシステム
DE102014119654A1 (de) * 2014-12-29 2016-06-30 Brötje-Automation GmbH Verfahren zur Kompensation einer Abweichung eines Arbeitspunkts
JP7219534B2 (ja) * 2017-03-28 2023-02-08 川崎重工業株式会社 塗装用ロボット装置
JP6857145B2 (ja) * 2018-03-09 2021-04-14 株式会社日立製作所 軌道計画装置、軌道計画方法、及び生産システム
CN113001537B (zh) * 2019-12-20 2022-08-02 深圳市优必选科技股份有限公司 机械臂控制方法、机械臂控制装置及终端设备
KR102492869B1 (ko) 2020-10-27 2023-01-31 한국과학기술연구원 영공간으로 투영된 작업 공간을 활용한 볼봇의 자세 균형 제어 방법 및 이를 이용하는 제어 시스템

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Also Published As

Publication number Publication date
EP0465661B1 (en) 1996-09-18
EP0465661A4 (en) 1993-03-17
JP2874238B2 (ja) 1999-03-24
EP0465661A1 (en) 1992-01-15
DE69122185D1 (de) 1996-10-24
DE69122185T2 (de) 1997-01-30
KR0176249B1 (ko) 1999-05-01
WO1991010945A1 (en) 1991-07-25
JPH03217906A (ja) 1991-09-25
US5187418A (en) 1993-02-16

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