SE0001312D0 - Industrirobot - Google Patents

Industrirobot

Info

Publication number
SE0001312D0
SE0001312D0 SE0001312A SE0001312A SE0001312D0 SE 0001312 D0 SE0001312 D0 SE 0001312D0 SE 0001312 A SE0001312 A SE 0001312A SE 0001312 A SE0001312 A SE 0001312A SE 0001312 D0 SE0001312 D0 SE 0001312D0
Authority
SE
Sweden
Prior art keywords
path
determined
positions
robot
industrial robot
Prior art date
Application number
SE0001312A
Other languages
English (en)
Swedish (sv)
Original Assignee
Abb Ab
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 Abb Ab filed Critical Abb Ab
Priority to SE0001312A priority Critical patent/SE0001312D0/xx
Publication of SE0001312D0 publication Critical patent/SE0001312D0/xx
Priority to DE60129009T priority patent/DE60129009T2/de
Priority to AT01922175T priority patent/ATE365096T1/de
Priority to JP2001574331A priority patent/JP2003530230A/ja
Priority to EP01922175A priority patent/EP1274546B1/en
Priority to US10/257,254 priority patent/US7130718B2/en
Priority to PCT/SE2001/000784 priority patent/WO2001076830A1/en
Priority to AU2001248950A priority patent/AU2001248950A1/en

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
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • 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
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36415—Adjust path and attitude tool by detecting path, line with a photosensor, laser
    • 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
    • G05B2219/39024—Calibration of 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
    • G05B2219/39033—Laser tracking of end effector, measure orientation of rotatable mirror
    • 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
    • G05B2219/39056—On line relative position error and orientation error calibration
    • 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
    • G05B2219/39176—Compensation deflection arm
    • 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
    • G05B2219/39181—Compensation of coulomb friction in joint
    • 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
    • G05B2219/39191—Compensation for errors in mechanical components
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41084—Compensation speed axis with changing, reversing direction, quadrant circle
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/80—Management or planning

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
SE0001312A 2000-04-10 2000-04-10 Industrirobot SE0001312D0 (sv)

Priority Applications (8)

Application Number Priority Date Filing Date Title
SE0001312A SE0001312D0 (sv) 2000-04-10 2000-04-10 Industrirobot
DE60129009T DE60129009T2 (de) 2000-04-10 2001-04-09 Bewegungskorrektur eines industrieroboters
AT01922175T ATE365096T1 (de) 2000-04-10 2001-04-09 Bewegungskorrektur eines industrieroboters
JP2001574331A JP2003530230A (ja) 2000-04-10 2001-04-09 産業ロボットの経路補正
EP01922175A EP1274546B1 (en) 2000-04-10 2001-04-09 Pathcorrection for an industrial robot
US10/257,254 US7130718B2 (en) 2000-04-10 2001-04-09 Pathcorrection for an industrial robot
PCT/SE2001/000784 WO2001076830A1 (en) 2000-04-10 2001-04-09 Pathcorrection for an industrial robot
AU2001248950A AU2001248950A1 (en) 2000-04-10 2001-04-09 Pathcorrection for an industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0001312A SE0001312D0 (sv) 2000-04-10 2000-04-10 Industrirobot

Publications (1)

Publication Number Publication Date
SE0001312D0 true SE0001312D0 (sv) 2000-04-10

Family

ID=20279249

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0001312A SE0001312D0 (sv) 2000-04-10 2000-04-10 Industrirobot

Country Status (8)

Country Link
US (1) US7130718B2 (xx)
EP (1) EP1274546B1 (xx)
JP (1) JP2003530230A (xx)
AT (1) ATE365096T1 (xx)
AU (1) AU2001248950A1 (xx)
DE (1) DE60129009T2 (xx)
SE (1) SE0001312D0 (xx)
WO (1) WO2001076830A1 (xx)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114803472A (zh) * 2022-04-22 2022-07-29 深圳航天科技创新研究院 基于机器人的夹紧控制方法及控制系统

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* Cited by examiner, † Cited by third party
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US20040093119A1 (en) 2004-05-13
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