PT2569130E - Processo de comando de uma célula de trabalho automatizada - Google Patents

Processo de comando de uma célula de trabalho automatizada Download PDF

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Publication number
PT2569130E
PT2569130E PT117254862T PT11725486T PT2569130E PT 2569130 E PT2569130 E PT 2569130E PT 117254862 T PT117254862 T PT 117254862T PT 11725486 T PT11725486 T PT 11725486T PT 2569130 E PT2569130 E PT 2569130E
Authority
PT
Portugal
Prior art keywords
robot
motor
robot arm
control
arm
Prior art date
Application number
PT117254862T
Other languages
English (en)
Portuguese (pt)
Inventor
Luc Joly
Jean Michel Bonnet Des Tuves
François Pertin
Gérald Vogt
Original Assignee
Staubli Sa Ets
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=42668907&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=PT2569130(E) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Staubli Sa Ets filed Critical Staubli Sa Ets
Publication of PT2569130E publication Critical patent/PT2569130E/pt

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • 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
    • 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
    • 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
    • G05B19/4086—Coordinate conversions; Other special calculations
    • 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
    • G05B2219/33273—DCS distributed, decentralised controlsystem, multiprocessor
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39253—Virtual arm, has end effector on any joint of real manipulator
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39384—Control unit near robot, control and teaching panel in safe zone
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39408—Integrated structure and control design
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm
    • Y10S901/23—Electric motor

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Fuzzy Systems (AREA)
  • Evolutionary Computation (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
PT117254862T 2010-05-14 2011-05-13 Processo de comando de uma célula de trabalho automatizada PT2569130E (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1053769A FR2960074B1 (fr) 2010-05-14 2010-05-14 Procede de commande d'une cellule de travail automatisee

Publications (1)

Publication Number Publication Date
PT2569130E true PT2569130E (pt) 2014-07-10

Family

ID=42668907

Family Applications (1)

Application Number Title Priority Date Filing Date
PT117254862T PT2569130E (pt) 2010-05-14 2011-05-13 Processo de comando de uma célula de trabalho automatizada

Country Status (11)

Country Link
US (1) US20130131864A1 (enExample)
EP (1) EP2569130B2 (enExample)
JP (1) JP5847164B2 (enExample)
KR (1) KR101839772B1 (enExample)
CN (1) CN102985233B (enExample)
BR (1) BR112012029107B1 (enExample)
DK (1) DK2569130T4 (enExample)
ES (1) ES2458430T5 (enExample)
FR (1) FR2960074B1 (enExample)
PT (1) PT2569130E (enExample)
WO (1) WO2011141683A1 (enExample)

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* Cited by examiner, † Cited by third party
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FR2960075B1 (fr) * 2010-05-14 2012-06-15 Staubli Sa Ets Procede de commande d'une cellule de travail automatisee
JP6332900B2 (ja) 2012-08-31 2018-05-30 セイコーエプソン株式会社 ロボットシステム及びロボット制御装置
JP2014205198A (ja) * 2013-04-10 2014-10-30 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
JP2014205197A (ja) 2013-04-10 2014-10-30 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
BR112015028382A2 (pt) * 2013-05-14 2017-07-25 Mitsubishi Electric Corp dispositivo de controle numérico
JP6354122B2 (ja) 2013-06-05 2018-07-11 セイコーエプソン株式会社 ロボット
FR3021574B1 (fr) * 2014-05-27 2019-04-05 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Manipulateur cobotique
CN104440910B (zh) * 2014-11-07 2016-05-04 绵阳市维博电子有限责任公司 一种实现机器人双手臂同步控制的方法及系统
FR3038245B1 (fr) * 2015-06-30 2017-12-29 Staubli Sa Ets Procede de commande d'une cellule de travail automatisee
JP6108645B1 (ja) * 2016-01-31 2017-04-05 貴司 徳田 モーターモジュールシステム
JP6859675B2 (ja) * 2016-11-21 2021-04-14 セイコーエプソン株式会社 ロボット、及びロボットシステム
US11554461B1 (en) 2018-02-13 2023-01-17 Omax Corporation Articulating apparatus of a waterjet system and related technology
KR102055502B1 (ko) 2018-05-30 2019-12-12 (주) 로보라이즌 모듈러 로봇 시스템
KR102069794B1 (ko) * 2018-05-30 2020-01-23 (주) 로보라이즌 모듈러 로봇 시스템
FR3097565B1 (fr) * 2019-06-19 2022-08-12 Staubli Sa Ets Machine textile, métier à tisser comportant une telle machine textile et procédés associés
JP7437910B2 (ja) 2019-10-29 2024-02-26 株式会社東芝 制御システム、制御方法、ロボットシステム、プログラム、及び記憶媒体

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Also Published As

Publication number Publication date
ES2458430T5 (es) 2017-11-20
DK2569130T3 (da) 2014-04-22
CN102985233B (zh) 2015-07-01
DK2569130T4 (en) 2017-09-25
ES2458430T3 (es) 2014-05-05
JP2013526418A (ja) 2013-06-24
KR20130027523A (ko) 2013-03-15
FR2960074B1 (fr) 2012-06-15
JP5847164B2 (ja) 2016-01-20
US20130131864A1 (en) 2013-05-23
EP2569130B2 (fr) 2017-07-26
WO2011141683A1 (fr) 2011-11-17
FR2960074A1 (fr) 2011-11-18
BR112012029107B1 (pt) 2020-12-29
KR101839772B1 (ko) 2018-03-19
EP2569130B1 (fr) 2014-04-02
CN102985233A (zh) 2013-03-20
EP2569130A1 (fr) 2013-03-20

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